diff --git a/log.log b/log.log index f4faf52..b1ea5b2 100644 --- a/log.log +++ b/log.log @@ -227258,3 +227258,14292 @@ 13:09:25.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121544857, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121544852, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} 13:09:25.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 13:09:25.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:09:26.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082567049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:26.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082567049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:26.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:09:26.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:09:26.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=20936318, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.0, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=20933996, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:26.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:09:26.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:09:26.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082566650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:26.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082566650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:26.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082567663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:26.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082567663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:26.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:09:26.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:09:27.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082568672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:27.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082568672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:27.609 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:09:27.609 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:09:27.696 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113766225, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113766219, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:27.696 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:09:27.696 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:09:27.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082588781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:27.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082588781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:27.794 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:09:27.794 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:09:27.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082563988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:27.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082563988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:28.227 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:09:28.227 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:09:28.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86228102, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86228099, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:28.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:09:28.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:09:28.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082568289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:28.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082568289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:28.742 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:09:28.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:09:28.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93233827, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93233823, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:28.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:09:28.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:09:29.154 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082570051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:29.154 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082570051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:29.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.68, rainFlag=0, windAngle=325.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201652361, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201652355, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:29.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:09:29.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:09:29.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082569642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:29.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082569642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:29.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082570661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:29.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082570661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:30.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96735036, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96735033, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:30.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:09:30.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:09:30.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=212915487, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212913160, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:30.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:09:30.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:09:30.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88313372, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88313366, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:30.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:09:30.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:09:30.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082571667, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:30.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082571667","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:30.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082591783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:30.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082591783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:30.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335641342, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335641339, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:30.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:09:30.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:09:30.881 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121550150, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121550144, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:30.881 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:09:30.882 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:09:30.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082566988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:30.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082566988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:31.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.90, rainFlag=0, windAngle=92.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:09:31.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:09:31.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:09:31.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082571285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:31.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082571285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:32.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082573050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:32.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082573050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:32.184 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=327.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:09:32.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:09:32.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:09:32.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082572644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:32.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082572644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:32.571 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:09:32.571 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:09:32.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082573671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:32.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082573671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:32.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113771516, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113771510, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:32.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:09:32.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:09:33.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.37, rainFlag=1, windAngle=231.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.9, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:09:33.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:09:33.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:09:33.481 [http-nio-9210-exec-6] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=56 +13:09:33.500 [http-nio-9210-exec-4] INFO c.r.d.w.StatisticsWebSocket - [onOpen,29] - WebSocket连接建立: sessionId=57 +13:09:33.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:09:33.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:09:33.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86233387, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86233383, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:33.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:09:33.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:09:33.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082574667, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:33.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082574667","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:33.658 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:09:33.659 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:09:33.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082594782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:33.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082594782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:33.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:09:33.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:09:33.775 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=20943931, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.0, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=20941653, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:33.776 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:09:33.776 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:09:33.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082569994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:33.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082569994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:34.260 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93239117, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93239114, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:34.260 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:09:34.260 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:09:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082574285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082574285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:34.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.77, rainFlag=0, windAngle=336.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201657673, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201657668, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:34.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:09:34.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:09:35.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082576041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:35.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082576041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:35.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082575642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:35.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082575642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:35.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96740322, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96740318, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:35.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:09:35.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:09:35.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88318674, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88318668, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:35.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:09:35.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:09:35.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082576663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:35.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082576663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:36.018 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335646633, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335646630, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:36.018 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:09:36.018 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:09:36.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121555438, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121555434, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:36.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:09:36.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:09:36.281 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:09:36.281 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:09:36.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082577678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:36.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082577678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:36.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082597776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:36.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082597776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:36.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082572984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:36.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082572984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:36.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:09:36.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:09:37.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082577281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:37.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082577281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:37.436 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082577445, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:37.436 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082577445","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:37.850 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:09:37.850 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:09:37.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:09:37.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:09:37.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=212923100, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212920776, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:37.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:09:37.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:09:38.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082579046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:38.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082579046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:38.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113776803, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113776799, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:38.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:09:38.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:09:38.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:09:38.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:09:38.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082578652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:38.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082578652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:38.756 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:09:38.756 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:09:38.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86238670, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86238667, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:38.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:09:38.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:09:38.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082579671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:38.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082579671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:39.547 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93244410, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93244405, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:39.547 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:09:39.547 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:09:39.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082580677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:39.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082580677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:39.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082600782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:39.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082600782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:39.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082575987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:39.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082575987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:39.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=2.77, rainFlag=0, windAngle=2.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201662975, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201662968, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:39.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:09:39.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:09:40.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082580290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:40.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082580290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:40.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96745614, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96745609, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:40.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:09:40.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:09:41.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88323976, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88323970, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:41.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:09:41.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:09:41.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.11, rainFlag=0, windAngle=111.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.70}}} +13:09:41.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:09:41.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:09:41.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082582042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:41.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082582042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:41.307 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335651924, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335651921, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:41.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:09:41.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:09:41.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=20949219, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:41.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121560753, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121560726, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:41.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:09:41.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:09:41.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082581646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:41.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082581646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:41.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082582666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:41.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082582666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:42.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=324.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=14.90, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:09:42.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:09:42.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:09:42.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082583679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:42.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082583679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:42.628 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:09:42.628 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:09:42.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082603776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:42.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082603776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:42.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082578988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:42.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082578988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:43.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.18, rainFlag=1, windAngle=144.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.9, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:09:43.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:09:43.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:09:43.182 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082583814, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:43.182 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082583814","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:43.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082583283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:43.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082583283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:43.412 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082584127, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:43.412 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082584127","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:43.502 [http-nio-9210-exec-1] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=57 +13:09:43.526 [http-nio-9210-exec-9] INFO c.r.d.w.StatisticsWebSocket - [onOpen,29] - WebSocket连接建立: sessionId=58 +13:09:43.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:09:43.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:09:43.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113782155, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113782149, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:43.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:09:43.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:09:43.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:09:43.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:09:43.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:09:43.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:09:44.099 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86243958, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86243954, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:44.099 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:09:44.099 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:09:44.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082585044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:44.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082585044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:44.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082584644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:44.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082584644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:44.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082585669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:44.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082585669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:44.849 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93249711, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93249706, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:44.850 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:09:44.850 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:09:45.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=7.00, windSpeed=3.79, rainFlag=0, windAngle=342.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201668276, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201668271, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:45.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:09:45.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:09:45.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212928441, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:45.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082586673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:45.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082586673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:45.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082606774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:45.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082606774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:45.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082581997, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:45.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082581997","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:46.127 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96750914, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96750910, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:46.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:09:46.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:09:46.345 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:09:46.345 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:09:46.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082586280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:46.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082586280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:46.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88329278, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88329272, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:46.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:09:46.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:09:46.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335657204, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335657201, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:46.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:09:46.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:09:46.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121566063, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121566058, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:46.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:09:46.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:09:46.979 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:09:46.979 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:09:47.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082588043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:47.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082588043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:47.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082586819, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:47.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082586819","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:47.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082587642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:47.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082587642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:47.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082588665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:47.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082588665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:47.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:09:47.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:09:47.994 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:09:47.994 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:09:48.355 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:09:48.355 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:09:48.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082589677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:48.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082589677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:48.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082609778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:48.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082609778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:48.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:09:48.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:09:48.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082584993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:48.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082584993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:48.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113787454, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113787449, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:48.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:09:48.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:09:49.011 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=20956832, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:49.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082590159, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.55, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:09:49.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082590159","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.55","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:09:49.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082589287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:49.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082589287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:49.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86249248, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86249245, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:49.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:09:49.389 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:09:50.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082591046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:50.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082591046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:50.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93255002, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93254997, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:50.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:09:50.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:09:50.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082590654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:50.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082590654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:50.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=6.00, windSpeed=3.24, rainFlag=0, windAngle=314.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201673575, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201673571, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:50.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:09:50.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:09:50.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082591671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:50.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082591671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:51.088 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.29, rainFlag=0, windAngle=108.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.33, cell_6Voltage=4.14, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.25, cell_2Voltage=4.29, cell_3Voltage=4.23, totalVoltage=25.57, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:09:51.088 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:09:51.088 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:09:51.414 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96756197, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96756191, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:51.414 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:09:51.414 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:09:51.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082592666, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:51.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082592666","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:51.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88334569, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88334563, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:51.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:09:51.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:09:51.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082612778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:51.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082612778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:51.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335662496, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335662492, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:51.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:09:51.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:09:51.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082587986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:51.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082587986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:52.034 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121571356, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121571351, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:52.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:09:52.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:09:52.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=316.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:09:52.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:09:52.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:09:52.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082592278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:52.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082592278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:52.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:09:52.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:09:53.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212936007, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:53.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082594049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:53.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082594049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:53.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=3.00, windSpeed=1.75, rainFlag=1, windAngle=156.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.9, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:09:53.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:09:53.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:09:53.524 [http-nio-9210-exec-8] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=58 +13:09:53.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082593643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:53.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082593643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:53.643 [http-nio-9210-exec-5] INFO c.r.d.w.StatisticsWebSocket - [onOpen,29] - WebSocket连接建立: sessionId=59 +13:09:53.651 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:09:53.651 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:09:53.795 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:09:53.795 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:09:53.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082594663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:53.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082594663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:53.849 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:09:53.849 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:09:54.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113792755, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113792739, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:54.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:09:54.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:09:54.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082595676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:54.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082595676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:54.673 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86254539, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86254536, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:54.673 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:09:54.673 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:09:54.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082615775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:54.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082615775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:54.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082590983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:54.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082590983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:54.953 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082593920, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:09:54.953 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082593920","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:09:55.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082595286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:55.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082595286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:55.450 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93260305, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93260299, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:55.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:09:55.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:09:55.840 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.87, rainFlag=0, windAngle=302.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201678879, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201678875, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:55.840 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:09:55.841 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:09:56.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082597045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:56.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082597045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:56.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082596644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:56.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082596644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:56.674 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:09:56.674 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:09:56.690 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=20966780, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=20964455, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:56.690 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:09:56.690 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:09:56.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96761498, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96761492, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:56.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:09:56.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:09:56.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082597675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:56.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082597675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:56.994 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88339857, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88339853, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:56.994 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:09:56.994 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:09:57.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:09:57.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:09:57.335 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121576658, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121576653, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:57.335 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:09:57.335 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:09:57.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082598681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:57.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082598681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:09:57.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082618778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:57.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082618778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:09:57.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082593983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:57.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082593983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:09:57.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:09:57.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:09:58.059 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:09:58.059 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:09:58.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082598281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:09:58.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082598281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:09:58.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:09:58.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:09:58.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:09:58.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:09:59.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082600039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:59.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082600039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:09:59.500 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113798054, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113798052, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:59.500 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:09:59.500 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:09:59.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082599651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:59.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082599651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:09:59.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.00, rainFlag=0, windAngle=179.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335670160, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335670157, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:59.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:09:59.549 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:09:59.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082600672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:09:59.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082600672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:09:59.963 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86259830, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86259826, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:09:59.963 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:09:59.963 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:00.600 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082601676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:00.600 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082601676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:00.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=212945937, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212943621, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:00.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:10:00.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:10:00.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082621777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:00.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082621777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:00.751 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93265615, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93265611, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:00.751 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:00.751 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:00.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082596994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:00.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082596994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:01.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.12, rainFlag=0, windAngle=299.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201684172, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201684166, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:01.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:01.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:01.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.66, rainFlag=0, windAngle=124.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.22, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.57, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:10:01.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:10:01.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:10:01.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082601283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:01.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082601283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:02.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96766785, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96766781, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:02.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:02.003 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:02.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082603037, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:02.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082603037","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:02.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=338.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:10:02.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:10:02.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:10:02.291 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88345156, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88345153, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:02.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:02.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:02.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082602648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:02.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082602648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:02.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121581950, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121581944, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:02.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:02.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:02.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:02.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:02.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082603672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:02.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082603672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:03.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=1.01, rainFlag=1, windAngle=182.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.8, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:10:03.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:10:03.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:10:03.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082604677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:03.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082604677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:03.603 [http-nio-9210-exec-3] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=59 +13:10:03.624 [http-nio-9210-exec-10] INFO c.r.d.w.StatisticsWebSocket - [onOpen,29] - WebSocket连接建立: sessionId=5a +13:10:03.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:03.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:03.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082624780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:03.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082624780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:03.853 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:03.853 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:03.887 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082599981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:03.887 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082599981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:03.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:03.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:04.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=20974392, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=20972110, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:04.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:10:04.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:10:04.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082604276, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:04.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082604276","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:04.794 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113803348, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113803343, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:04.794 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:04.794 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:04.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335675453, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335675449, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:04.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:10:04.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:10:05.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082606038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:05.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082606038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:05.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86265121, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86265117, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:05.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:05.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:05.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082605651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:05.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082605651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:05.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082606672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:05.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082606672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:06.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93270894, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93270892, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:06.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:06.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:06.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.66, rainFlag=0, windAngle=307.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201689469, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201689465, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:06.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:06.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:06.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082607671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:06.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082607671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:06.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082627785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:06.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082627785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:06.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:06.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:06.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082602991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:06.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082602991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:07.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:07.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:07.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96772078, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96772074, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:07.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:07.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:07.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082607284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:07.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082607284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:07.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88350453, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88350447, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:07.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:07.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:07.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121587241, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121587235, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:07.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:07.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:08.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:08.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:08.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082609043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:08.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082609043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:08.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:08.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:08.389 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=212953549, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212951234, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:08.389 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:10:08.389 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:10:08.478 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:08.478 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:08.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082608655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:08.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082608655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:08.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082609664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:08.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082609664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:08.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:08.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:09.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082609110, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:09.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082609110","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:09.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082610680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:09.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082610680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:09.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082630774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:09.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082630774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:09.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082605981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:09.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082605981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:10.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113808629, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113808623, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:10.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:10.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:10.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335680756, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335680730, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:10.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:10:10.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:10:10.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082610278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:10.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082610278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:10.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86270401, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86270397, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:10.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:10.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:11.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.22, rainFlag=0, windAngle=98.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.31, cell_4Voltage=4.30, cell_6Voltage=4.21, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:10:11.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:10:11.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:10:11.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082612047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:11.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082612047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:11.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93276212, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93276206, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:11.352 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:11.352 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:11.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082611648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:11.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082611648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:11.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082612671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:11.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082612671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:11.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=322.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201694901, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201694757, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:11.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:11.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:11.882 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=20982005, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=20979678, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:11.882 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:10:11.882 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:10:12.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=341.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.28, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:10:12.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:10:12.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:10:12.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082613673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:12.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082613673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:12.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96777370, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96777364, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:12.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:12.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:12.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082633780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:12.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082633780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:12.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:12.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:12.880 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88355744, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88355738, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:12.880 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:12.880 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:12.891 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082608984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:12.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082608984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:12.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:10:13.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=2.50, rainFlag=1, windAngle=191.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.15, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.8, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:10:13.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:10:13.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:10:13.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121592542, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121592536, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:13.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:13.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:13.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082613291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:13.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082613291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:13.624 [http-nio-9210-exec-2] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=5a +13:10:13.643 [http-nio-9210-exec-7] INFO c.r.d.w.StatisticsWebSocket - [onOpen,29] - WebSocket连接建立: sessionId=5b +13:10:13.781 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:13.781 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:13.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:13.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:13.978 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:13.978 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:14.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082615047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:14.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082615047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:14.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082614656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:14.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082614656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:14.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082615672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:14.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082615672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:14.844 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082615478, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:14.845 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082615478","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:15.020 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082615739, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:15.020 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082615739","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:15.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113813927, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113813923, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:15.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:15.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:15.427 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335686046, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335686042, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:15.428 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:10:15.428 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:10:15.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082616673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:15.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082616673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:15.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082636781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:15.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082636781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:15.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86275681, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86275677, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:15.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:15.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:15.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082611992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:15.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082611992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:15.939 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=212961161, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212958901, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:15.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:10:15.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:10:16.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082616280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:16.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082616280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:16.669 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93281526, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93281496, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:16.669 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:16.669 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:16.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:16.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:17.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082618051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:17.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082618051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:17.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.57, rainFlag=0, windAngle=328.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201700198, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201700193, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:17.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:17.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:17.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:17.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:17.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082617651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:17.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082617651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:17.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082618673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:17.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082618673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:17.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96782683, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96782678, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:17.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:17.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:18.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:18.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:18.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88361034, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88361029, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:18.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:18.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:18.438 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:18.438 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:18.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121597844, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121597839, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:18.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:18.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:18.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:18.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:18.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082619671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:18.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082619671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:18.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082639785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:18.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082639785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:18.891 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082614983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:18.891 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082614983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:18.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:18.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:19.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082618625, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:19.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082618625","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:19.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082620229, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.55, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:10:19.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082620229","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.55","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:10:19.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082619292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:19.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082619292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:19.460 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=20989617, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=20987291, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:19.461 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:10:19.461 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:10:20.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082621047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:20.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082621047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:20.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082620648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:20.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082620648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:20.655 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113819206, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113819202, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:20.656 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:20.656 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:20.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335691335, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335691332, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:20.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:10:20.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:10:20.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082621675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:20.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082621675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:21.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86280972, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86280968, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:21.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:21.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:21.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.48, rainFlag=0, windAngle=109.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:10:21.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:10:21.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:10:21.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082622682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:21.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082622682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:21.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082642776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:21.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082642776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:21.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082617995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:21.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082617995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:21.972 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93286825, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93286820, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:21.973 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:21.973 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:22.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=330.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:10:22.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:10:22.260 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:10:22.358 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082622279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:22.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082622279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:22.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.57, rainFlag=0, windAngle=336.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201705486, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201705482, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:22.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:22.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:22.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:22.879 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:23.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=5.00, windSpeed=1.75, rainFlag=1, windAngle=229.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.9, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.02}}} +13:10:23.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:10:23.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:10:23.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082624045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:23.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082624045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:23.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96787984, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96787979, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:23.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:23.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:23.472 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88366336, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88366330, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:23.472 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:23.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:23.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082623653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:23.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082623653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:23.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=212968773, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212966446, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:23.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:10:23.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:10:23.654 [http-nio-9210-exec-6] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=5b +13:10:23.669 [http-nio-9210-exec-4] INFO c.r.d.w.StatisticsWebSocket - [onOpen,29] - WebSocket连接建立: sessionId=5c +13:10:23.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082624662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:23.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082624662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:23.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121603144, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121603140, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:23.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:23.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:23.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:23.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:23.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:23.972 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:24.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:24.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:24.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082625676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:24.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082625676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:24.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082645780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:24.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082645780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:24.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082620985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:24.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082620985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:25.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082625280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:25.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082625280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:25.957 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113824502, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113824496, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:25.957 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:25.957 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:25.992 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335696615, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335696612, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:25.992 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:10:25.992 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:10:26.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082627051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:26.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082627051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:26.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86286261, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86286258, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:26.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:26.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:26.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082626654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:26.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082626654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:26.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082625724, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:10:26.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082625724","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:10:26.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082627663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:26.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082627663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:27.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:27.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:27.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=20994903, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:27.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:27.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:27.269 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93292127, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93292122, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:27.269 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:27.270 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:27.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082628669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:27.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082628669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:27.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082648777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:27.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082648777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:27.752 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=344.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201710790, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201710786, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:27.753 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:27.753 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:27.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082623988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:27.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082623988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:28.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:28.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:28.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082628280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:28.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082628280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:28.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:28.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:28.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96793287, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96793281, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:28.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:28.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:28.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:28.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:28.778 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88371641, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88371635, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:28.778 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:28.778 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:29.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082630041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:29.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082630041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:29.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:29.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:29.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121608498, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121608489, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:29.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:29.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:29.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082629655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:29.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082629655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:29.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082630666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:29.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082630666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:30.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082631667, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:30.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082631667","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:30.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082651777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:30.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082651777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:30.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082626995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:30.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082626995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:31.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212974069, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:31.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.05, rainFlag=0, windAngle=96.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:10:31.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:10:31.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:10:31.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113829801, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113829796, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:31.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:31.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:31.287 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335701899, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335701896, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:31.287 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:10:31.287 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:10:31.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082631291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:31.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082631291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:31.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86291542, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86291538, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:31.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:31.679 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:32.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082633048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:32.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082633048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:32.339 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=326.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:10:32.339 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:10:32.339 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:10:32.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082632650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:32.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082632650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:32.569 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93297426, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93297422, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:32.570 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:32.570 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:32.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082633665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:32.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082633665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:32.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:32.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:33.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.85, rainFlag=0, windAngle=348.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201716090, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201716085, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:33.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:33.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:33.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.74, rainFlag=1, windAngle=266.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.15, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.8, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:10:33.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:10:33.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:10:33.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082634677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:33.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082634677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:33.674 [http-nio-9210-exec-1] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=5c +13:10:33.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082654782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:33.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082654782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:33.757 [http-nio-9210-exec-9] INFO c.r.d.w.StatisticsWebSocket - [onOpen,29] - WebSocket连接建立: sessionId=5d +13:10:33.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96798572, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96798569, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:33.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:33.791 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:33.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082629989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:33.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082629989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:33.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:33.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:34.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:34.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:34.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88376928, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88376923, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:34.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:34.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:34.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:34.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:34.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082634291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:34.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082634291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:34.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121613792, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121613787, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:34.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:34.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:34.683 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21002569, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:35.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082636051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:35.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082636051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:35.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082635650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:35.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082635650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:35.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082636666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:35.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082636666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:36.556 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113835106, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113835100, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:36.557 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:36.557 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:36.567 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335707187, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335707183, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:36.567 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:10:36.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:10:36.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082637677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:36.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082637677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:36.730 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082657789, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:36.730 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082657789","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:36.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082632998, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:36.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082632998","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:36.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86296820, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86296818, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:36.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:36.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:37.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:37.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:37.300 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:37.300 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:37.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082637285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:37.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082637285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:37.870 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93302730, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93302726, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:37.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:37.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:38.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082639044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:38.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082639044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:38.241 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:38.241 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:38.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.20, rainFlag=0, windAngle=359.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201721380, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201721376, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:38.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:38.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:38.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082638654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:38.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082638654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:38.675 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:38.675 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:38.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:38.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:38.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212981670, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:38.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082639673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:38.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082639673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:39.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96803879, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96803874, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:39.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:39.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:39.237 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:39.237 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:39.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88382218, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88382213, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:39.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:39.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:39.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082640675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:39.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082640675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:39.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082660778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:39.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082660778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:39.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121619096, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121619090, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:39.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:39.775 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:39.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082635989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:39.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082635989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:40.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082640279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:40.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082640279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:40.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082640846, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:40.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082640846","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:41.063 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.87, rainFlag=0, windAngle=105.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.34, cell_4Voltage=4.32, cell_6Voltage=4.14, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.25, cell_2Voltage=4.29, cell_3Voltage=4.24, totalVoltage=25.57, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:10:41.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:10:41.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:10:41.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082642050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:41.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082642050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:41.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082641642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:41.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082641642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:41.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082642674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:41.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082642674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:41.847 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335712466, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335712463, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:41.847 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:10:41.847 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:10:41.857 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113840407, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113840401, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:41.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:41.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:42.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=353.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=14.90, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:10:42.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:10:42.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:10:42.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86302115, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86302110, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:42.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:42.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:42.297 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21012454, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21010139, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:42.297 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:10:42.297 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:10:42.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082643670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:42.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082643670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:42.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082663782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:42.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082663782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:42.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082638996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:42.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082638996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:43.007 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:43.007 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:43.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.64, rainFlag=1, windAngle=63.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.8, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:10:43.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:10:43.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:10:43.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93308035, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93308030, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:43.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:43.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:43.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082643288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:43.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082643288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:43.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.48, rainFlag=0, windAngle=350.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201726682, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201726677, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:43.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:43.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:43.735 [http-nio-9210-exec-8] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=5d +13:10:43.759 [http-nio-9210-exec-5] INFO c.r.d.w.StatisticsWebSocket - [onOpen,29] - WebSocket连接建立: sessionId=5e +13:10:43.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:43.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:44.100 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:44.100 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:44.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082645047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:44.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082645047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:44.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:44.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:44.390 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96809170, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96809165, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:44.391 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:44.391 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:44.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082644647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:44.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082644647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:44.657 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88387521, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88387515, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:44.658 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:44.658 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:44.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082645664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:44.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082645664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:45.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121624394, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121624390, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:45.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:45.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:45.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082646669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:45.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082646669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:45.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082666778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:45.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082666778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:45.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082641985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:45.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082641985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:46.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082646288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:46.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082646288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:46.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=212991610, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212989337, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:46.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:10:46.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:10:46.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082647178, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:46.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082647178","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:46.626 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082647345, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:46.626 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082647345","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:47.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082648044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:47.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082648044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:47.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113845755, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113845703, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:47.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:47.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:47.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:47.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:47.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:47.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:47.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082647651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:47.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082647651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:47.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86307415, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86307412, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:47.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:47.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:47.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082648666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:47.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082648666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:48.307 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:48.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:48.481 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93313333, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93313329, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:48.481 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:48.481 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:48.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082649670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:48.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082649670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:48.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082669775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:48.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082669775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:48.728 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:48.728 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:48.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:48.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:48.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082644989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:48.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082644989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:48.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.48, rainFlag=0, windAngle=357.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201731977, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201731971, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:48.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:48.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:49.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:49.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:49.307 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082650308, roll=0, lon=0, battery=0.9, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.57, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:10:49.307 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.9","date":"1772082650308","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.57","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:10:49.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082649288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:49.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082649288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:49.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.00, rainFlag=0, windAngle=200.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335720154, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335720151, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:49.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:10:49.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:10:49.695 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96814471, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96814466, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:49.695 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:49.695 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:49.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21020067, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21017737, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:49.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:10:49.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:10:49.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88392812, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88392806, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:49.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:49.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:50.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082651042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:50.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082651042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:50.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121629699, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121629693, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:50.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:50.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:50.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082650645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:50.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082650645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:50.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082651664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:50.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082651664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:50.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082650357, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:50.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082650357","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:51.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.92, rainFlag=0, windAngle=111.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.21, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.56, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:10:51.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:10:51.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:10:51.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082652678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:51.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082652678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:51.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082672786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:51.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082672786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:51.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082647985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:51.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082647985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:52.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=330.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:10:52.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:10:52.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:10:52.358 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082652280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:52.358 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082652280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:52.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113851055, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113851049, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:52.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:52.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:52.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86312755, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86312712, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:52.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:52.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:53.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:53.069 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:10:53.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=1.11, rainFlag=1, windAngle=211.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.8, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:10:53.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:10:53.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:10:53.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082654049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:53.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082654049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:53.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082653646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:53.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082653646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:53.760 [http-nio-9210-exec-3] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=5e +13:10:53.781 [http-nio-9210-exec-10] INFO c.r.d.w.StatisticsWebSocket - [onOpen,29] - WebSocket连接建立: sessionId=5f +13:10:53.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93318665, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93318620, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:53.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:53.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:53.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082654674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:53.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082654674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:54.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:54.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:10:54.054 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=212999223, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=212996890, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:54.054 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:10:54.054 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:10:54.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:54.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:10:54.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082655677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:54.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082655677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:54.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082675779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:54.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082675779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:54.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335725446, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335725443, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:54.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:10:54.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:10:54.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082650991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:54.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082650991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:54.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96819758, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96819755, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:54.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:10:54.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:10:55.089 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:55.089 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:10:55.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.94, rainFlag=0, windAngle=346.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201738139, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201738132, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:55.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:10:55.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:10:55.239 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88398103, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88398097, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:55.239 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:10:55.239 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:10:55.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082655291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:55.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082655291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:55.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121635013, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121635007, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:55.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:10:55.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:10:56.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082657050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:56.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082657050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:56.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082656652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:56.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082656652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:56.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082657662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:56.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082657662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:10:57.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:57.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:10:57.574 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:57.574 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:10:57.607 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082658677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:57.607 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082658677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:10:57.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21027680, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21025350, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:57.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:10:57.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:10:57.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082678781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:57.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082678781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:10:57.791 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113856343, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113856339, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:57.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:10:57.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:10:57.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082653987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:57.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082653987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:10:58.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86318051, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86318048, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:58.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:10:58.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:10:58.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082658284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:10:58.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082658284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:10:58.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:58.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:10:58.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082657539, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:10:58.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082657539","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:10:58.788 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:58.789 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:10:58.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:58.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:10:59.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93323969, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93323965, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:10:59.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:10:59.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:10:59.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082660051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:59.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082660051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:10:59.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:59.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:10:59.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082659646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:59.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082659646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:10:59.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082660673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:10:59.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082660673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:00.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335730774, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335730723, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:00.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:00.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:00.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96825040, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96825035, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:00.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:00.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:00.406 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.40, rainFlag=0, windAngle=339.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201743435, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201743431, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:00.407 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:00.407 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:00.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88403401, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88403397, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:00.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:00.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:00.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082661675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:00.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082661675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:00.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082681785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:00.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082681785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:00.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082656991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:00.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082656991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:00.994 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121640310, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121640306, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:00.995 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:00.995 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:01.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.31, rainFlag=0, windAngle=102.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:11:01.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:11:01.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:11:01.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082661280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:01.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082661280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:01.614 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213006836, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213004528, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:01.614 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:11:01.614 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:11:02.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082663038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:02.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082663038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:02.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.18, rainFlag=1, windAngle=348.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:11:02.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:11:02.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:11:02.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082662645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:02.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082662645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:02.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082663664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:02.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082663664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:03.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113861637, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113861631, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:03.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:03.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:03.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:03.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:03.250 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=1.00, windSpeed=1.01, rainFlag=1, windAngle=89.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.9, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:11:03.250 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:11:03.250 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:11:03.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86323331, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86323327, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:03.469 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:03.469 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:03.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082664671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:03.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082664671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:03.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082684775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:03.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082684775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:03.786 [http-nio-9210-exec-2] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=5f +13:11:03.797 [http-nio-9210-exec-7] INFO c.r.d.w.StatisticsWebSocket - [onOpen,29] - WebSocket连接建立: sessionId=60 +13:11:03.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082659986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:03.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082659986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:04.118 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:04.118 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:04.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082664286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:04.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082664286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:04.438 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:04.438 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:04.457 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93329311, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93329305, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:04.458 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:04.458 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:05.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21035291, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21033027, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:05.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:11:05.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:11:05.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082666042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:05.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082666042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:05.157 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:05.157 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:05.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335736062, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335736058, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:05.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:05.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:05.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082665654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:05.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082665654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:05.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96830354, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96830349, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:05.569 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:05.569 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:05.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.22, rainFlag=0, windAngle=325.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201748754, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201748731, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:05.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:05.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:05.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082666670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:05.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082666670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:05.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88408751, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88408690, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:05.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:05.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:06.295 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121645616, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121645610, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:06.295 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:06.295 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:06.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082667680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:06.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082667680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:06.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082687782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:06.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082687782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:06.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082662991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:06.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082662991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:07.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082667277, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:07.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082667277","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:07.488 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:07.488 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:07.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:07.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:08.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082669042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:08.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082669042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:08.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113866934, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113866930, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:08.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:08.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:08.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:08.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:08.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082668653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:08.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082668653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:08.768 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86328633, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86328630, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:08.769 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:08.769 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:08.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082669664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:08.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082669664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:08.853 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:08.853 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:09.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:09.272 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:09.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213014448, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213012118, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:09.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:11:09.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:11:09.428 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:09.428 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:09.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082670681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:09.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082670681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:09.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082690785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:09.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082690785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:09.751 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.83, rainFlag=0, windAngle=276.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93334609, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93334604, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:09.751 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:09.751 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:09.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082665990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:09.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082665990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:10.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082670289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:10.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082670289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:10.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335741353, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335741349, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:10.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:10.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:10.854 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96835643, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96835640, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:10.855 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:10.855 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:11.024 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.57, rainFlag=0, windAngle=344.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201754063, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201754059, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:11.024 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:11.024 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:11.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082672049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:11.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082672049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:11.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88414041, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88414035, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:11.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:11.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:11.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.48, rainFlag=0, windAngle=108.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:11:11.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:11:11.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:11:11.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082671655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:11.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082671655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:11.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121650906, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121650901, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:11.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:11.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:11.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082672665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:11.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082672665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:12.127 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.03, rainFlag=1, windAngle=349.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=14.90, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:11:12.127 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:11:12.127 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:11:12.561 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082672570, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:12.561 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082672570","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:12.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082673677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:12.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082673677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:12.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082693783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:12.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082693783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:12.747 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21040573, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:12.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082668993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:12.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082668993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:13.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.46, rainFlag=1, windAngle=1.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.8, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:11:13.172 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:11:13.172 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:11:13.194 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:13.194 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:13.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082673287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:13.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082673287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:13.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113872228, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113872223, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:13.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:13.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:13.717 [scheduling-1] INFO c.r.d.s.i.SynService - [updateDevicesScheduled,194] - ========== 开始执行定时任务：同步基础表数据 ========== +13:11:13.723 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,132] - 成功加载 1 个网关设备，共扫描 10 个设备，跳过 0 个空页 +13:11:13.821 [http-nio-9210-exec-6] INFO c.r.d.w.StatisticsWebSocket - [onMessage,44] - 收到WebSocket消息: sessionId=60, message=ping +13:11:14.023 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,135] - 没有找到更多网关设备，共扫描 25 个设备，跳过 3 个空页 +13:11:14.058 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86333925, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86333921, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:14.058 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:14.059 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:14.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082675051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:14.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082675051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:14.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:14.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:14.500 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:14.500 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:14.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082674642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:14.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082674642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:14.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082675662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:14.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082675662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:15.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.74, rainFlag=0, windAngle=283.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93339909, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93339904, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:15.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:15.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:15.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:15.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:15.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082676669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:15.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082676669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:15.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082696784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:15.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082696784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:15.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082671990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:15.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082671990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:16.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335746655, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335746651, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:16.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:16.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:16.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96840922, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96840918, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:16.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:16.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:16.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.01, rainFlag=0, windAngle=340.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201759353, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201759348, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:16.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:16.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:16.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082676287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:16.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082676287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:16.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88419332, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88419327, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:16.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:16.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:16.835 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213019794, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:16.880 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121656192, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121656189, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:16.881 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:16.881 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:17.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082678044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:17.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082678044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:17.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082677645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:17.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082677645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:17.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:17.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:17.696 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:17.696 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:17.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082678667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:17.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082678667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:18.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082678822, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:18.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082678822","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:18.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082678984, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:18.265 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082678984","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:18.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:18.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:18.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082679681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:18.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082679681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:18.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082699783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:18.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082699783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:18.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082674986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:18.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082674986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:18.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:18.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:18.987 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113877531, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113877526, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:18.987 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:18.987 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:19.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:19.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:19.358 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082679277, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:19.358 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082679277","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:19.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86339215, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86339211, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:19.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:19.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:19.380 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082680383, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.55, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:11:19.380 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082680383","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.55","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:11:19.490 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:19.491 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:20.160 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082681046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:20.160 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082681046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:20.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.55, rainFlag=0, windAngle=269.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93345213, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93345207, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:20.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:20.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:20.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21048185, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:20.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082680649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:20.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082680649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:20.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082681667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:20.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082681667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:21.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.33, rainFlag=0, windAngle=102.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:11:21.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:11:21.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:11:21.190 [http-nio-9210-exec-4] INFO c.r.d.w.StatisticsWebSocket - [onClose,36] - WebSocket连接关闭: sessionId=60 +13:11:21.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335751945, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335751942, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:21.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:21.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:21.430 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96846217, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96846212, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:21.430 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:21.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:21.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082682675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:21.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082682675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:21.663 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.11, rainFlag=0, windAngle=338.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201764668, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201764664, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:21.663 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:21.663 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:21.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082702781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:21.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082702781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:21.760 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88424623, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88424617, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:21.760 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:21.760 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:21.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082677995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:21.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082677995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:22.157 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121661487, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121661483, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:22.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:22.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:22.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.09, rainFlag=1, windAngle=332.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:11:22.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:11:22.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:11:22.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082682278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:22.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082682278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:22.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082682082, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:22.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082682082","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:23.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.74, rainFlag=1, windAngle=300.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.37, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.8, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:11:23.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:11:23.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:11:23.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082684051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:23.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082684051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:23.250 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:23.250 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:23.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082683650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:23.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082683650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:23.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082684676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:23.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082684676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:24.322 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:24.322 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:24.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113882880, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113882873, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:24.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:24.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:24.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213027342, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:24.557 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:24.557 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:24.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082685669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:24.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082685669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:24.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86344505, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86344502, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:24.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:24.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:24.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082705776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:24.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082705776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:24.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082680996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:24.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082680996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:25.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:25.293 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:25.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082685292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:25.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082685292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:25.671 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.09, rainFlag=0, windAngle=268.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93350527, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93350508, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:25.672 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:25.672 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:26.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082687043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:26.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082687043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:26.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082686655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:26.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082686655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:26.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335757236, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335757233, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:26.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:26.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:26.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96851509, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96851504, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:26.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:26.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:26.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082687666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:26.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082687666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:26.933 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.11, rainFlag=0, windAngle=334.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201769965, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201769961, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:26.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:26.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:27.060 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88429925, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88429919, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:27.060 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:27.060 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:27.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121666779, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121666774, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:27.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:27.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:27.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082688679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:27.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082688679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:27.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:27.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:27.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082708773, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:27.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082708773","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:27.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082683983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:27.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082683983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:28.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:28.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:28.052 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21058129, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21055808, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:28.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:11:28.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:11:28.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:11:28.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082688288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:28.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082688288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:28.561 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:28.561 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:28.982 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:28.982 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:29.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082690040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:29.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082690040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:29.391 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:29.392 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:29.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082689657, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:29.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082689657","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:29.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:29.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:29.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113888179, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113888174, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:29.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:29.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:29.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082690668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:29.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082690668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:29.928 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86349785, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86349781, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:29.928 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:29.928 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:30.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082689312, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:11:30.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082689312","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:11:30.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082691669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:30.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082691669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:30.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082711785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:30.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082711785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:30.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082686995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:30.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082686995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:30.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=280.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93355827, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93355822, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:30.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:30.970 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:31.255 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.14, rainFlag=0, windAngle=102.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.33, cell_6Voltage=4.14, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.25, cell_2Voltage=4.29, cell_3Voltage=4.23, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:11:31.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:11:31.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:11:31.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082691282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:31.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082691282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:31.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335762516, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335762513, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:31.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:31.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:32.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96856810, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96856804, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:32.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:32.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:32.059 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213037284, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213034964, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:32.060 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:11:32.060 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:11:32.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082693036, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:32.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082693036","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:32.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.09, rainFlag=1, windAngle=310.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:11:32.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:11:32.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:11:32.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.20, rainFlag=0, windAngle=354.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201775257, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201775253, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:32.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:32.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:32.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88435215, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88435210, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:32.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:32.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:32.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082692651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:32.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082692651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:32.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082693667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:32.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082693667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:32.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121672082, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121672076, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:32.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:32.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:33.318 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:33.318 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:33.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.64, rainFlag=1, windAngle=14.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.8, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:11:33.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:11:33.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:11:33.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082694681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:33.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082694681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:33.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082714786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:33.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082714786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:33.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082689996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:33.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082689996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:34.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082694287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:34.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082694287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:34.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:34.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:34.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:34.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:34.938 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113893480, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113893475, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:34.938 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:34.938 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:35.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082696048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:35.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082696048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:35.220 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86355086, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86355083, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:35.220 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:35.221 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:35.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:35.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:35.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082695650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:35.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082695650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:35.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21065740, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21063500, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:35.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:11:35.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:11:35.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082696662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:35.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082696662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:36.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.09, rainFlag=0, windAngle=254.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93361130, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93361124, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:36.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:36.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:36.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082697681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:36.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082697681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:36.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082717783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:36.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082717783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:36.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082692986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:36.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082692986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:37.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96862123, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96862118, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:37.345 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:37.345 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:37.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082697283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:37.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082697283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:37.513 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=340.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201780551, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201780546, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:37.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:37.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:37.681 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:37.681 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:37.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88440556, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88440550, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:37.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:37.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:38.082 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121677395, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121677389, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:38.083 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:38.083 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:38.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:38.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:38.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082699040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:38.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082699040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:38.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082698659, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:38.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082698659","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:38.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:38.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:38.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082699674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:38.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082699674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:39.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:39.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:39.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082700681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:39.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082700681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:39.620 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:39.620 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:39.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:39.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:39.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082720786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:39.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082720786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:39.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213044897, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213042576, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:39.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:11:39.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:11:39.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082695983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:39.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082695983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:40.236 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113898780, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113898775, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:40.236 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:40.236 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:40.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082700291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:40.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082700291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:40.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86360367, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86360364, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:40.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:40.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:40.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.18, rainFlag=0, windAngle=195.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335771479, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335771475, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:40.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:40.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:41.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.42, rainFlag=0, windAngle=104.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.31, cell_4Voltage=4.31, cell_6Voltage=4.21, cellTemp=18.20, mosTemp=18.80, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.56, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:11:41.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:11:41.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:11:41.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082702052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:41.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082702052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:41.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082701656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:41.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082701656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:41.560 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=262.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93366415, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93366412, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:41.561 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:41.561 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:41.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082702676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:41.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082702676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:42.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.09, rainFlag=1, windAngle=332.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:11:42.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:11:42.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:11:42.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082703676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:42.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082703676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:42.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96867424, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96867419, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:42.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:42.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:42.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082723783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:42.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082723783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:42.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.03, rainFlag=0, windAngle=335.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201785854, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201785847, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:42.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:42.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:42.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082698990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:42.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082698990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:42.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88445850, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88445846, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:42.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:42.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:43.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.64, rainFlag=1, windAngle=332.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:11:43.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:11:43.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:11:43.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21073353, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21071021, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:43.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:11:43.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:11:43.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082703282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:43.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082703282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:43.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:43.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:43.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121682695, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121682690, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:43.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:43.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:44.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082705036, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:44.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082705036","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:44.301 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082704309, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:44.301 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082704309","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:44.460 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:44.460 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:44.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082704656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:44.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082704656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:44.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:44.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:44.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082705661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:44.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082705661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:45.425 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:45.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:45.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113904080, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113904077, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:45.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:45.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:45.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082706675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:45.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082706675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:45.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082726784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:45.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082726784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:45.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86365658, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86365655, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:45.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:45.799 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:45.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082701992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:45.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082701992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:46.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335776771, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335776767, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:46.157 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:46.157 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:46.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082706290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:46.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082706290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:46.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.09, rainFlag=0, windAngle=257.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93371711, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93371706, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:46.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:46.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:47.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082708041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:47.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082708041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:47.295 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213052519, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213050232, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:47.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:11:47.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:11:47.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082707647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:47.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082707647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:47.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:47.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:47.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082708676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:47.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082708676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:47.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96872722, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96872718, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:47.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:47.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:48.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.85, rainFlag=0, windAngle=314.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201791152, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201791148, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:48.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:48.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:48.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:48.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:48.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88451141, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88451137, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:48.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:48.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:48.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082709672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:48.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082709672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:48.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:48.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:48.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082729782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:48.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082729782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:48.778 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121687993, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121687989, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:48.778 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:48.778 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:48.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082704987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:48.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082704987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:49.098 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:49.098 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:49.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082709283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:49.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082709283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:49.461 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082710462, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.56, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:11:49.461 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082710462","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.56","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:11:49.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:49.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:49.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:49.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:49.840 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082710474, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:49.840 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082710474","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:49.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082710636, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:49.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082710636","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:50.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082711049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:50.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082711049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:50.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082710647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:50.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082710647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:50.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21080965, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21078653, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:50.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:11:50.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:11:50.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082711675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:50.828 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082711675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:50.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113909386, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113909381, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:50.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:50.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:51.078 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86370937, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86370934, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:51.078 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:51.078 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:51.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.22, rainFlag=0, windAngle=106.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:11:51.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:11:51.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:11:51.430 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335782052, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335782048, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:51.430 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:51.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:51.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082712678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:51.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082712678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:51.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082732782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:51.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082732782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:51.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082707996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:51.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082707996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:52.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.38, rainFlag=1, windAngle=331.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:11:52.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:11:52.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:11:52.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=274.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93377013, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93377007, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:52.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:52.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:52.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082712278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:52.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082712278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:53.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.46, rainFlag=1, windAngle=17.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:11:53.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:11:53.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:11:53.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082714049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:53.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082714049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:53.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96878014, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96878010, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:53.227 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:53.227 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:53.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.20, rainFlag=0, windAngle=333.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201796453, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201796449, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:53.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:53.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:53.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:53.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:11:53.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082713657, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:53.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082713657","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:53.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88456434, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88456428, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:53.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:53.569 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:53.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082714676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:53.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082714676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:53.972 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121693296, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121693292, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:53.972 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:53.973 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:54.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082713822, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:54.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082713822","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:54.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:54.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:11:54.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082715675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:54.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082715675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:54.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082735776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:54.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082735776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:54.751 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:54.751 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:11:54.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082710996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:54.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082710996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:54.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213060132, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213057811, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:54.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:11:54.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:11:55.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082715285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:55.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082715285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:55.493 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:55.493 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:11:56.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113914675, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113914670, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:56.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:11:56.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:11:56.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082717044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:56.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082717044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:56.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86376229, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86376226, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:56.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:11:56.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:11:56.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082716653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:56.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082716653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:56.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335787342, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335787338, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:56.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:11:56.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:11:56.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082717672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:56.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082717672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:57.461 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=309.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93382314, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93382309, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:57.462 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:11:57.462 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:11:57.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082718670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:57.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082718670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:11:57.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082738782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:57.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082738782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:11:57.799 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:57.799 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:11:57.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082713992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:57.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082713992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:11:58.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082718289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:11:58.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082718289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:11:58.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:58.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:11:58.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21086255, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:58.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96883320, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96883314, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:58.545 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:11:58.545 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:11:58.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.11, rainFlag=0, windAngle=338.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201801755, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201801744, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:58.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:11:58.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:11:58.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:58.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:11:58.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88461731, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88461719, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:58.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:11:58.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:11:59.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082720050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:59.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082720050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:11:59.162 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:59.162 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:11:59.269 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121698598, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121698594, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:11:59.269 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:11:59.270 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:11:59.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082719656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:59.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082719656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:11:59.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:59.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:11:59.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082720669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:11:59.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082720669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:11:59.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:11:59.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:00.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082721679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:00.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082721679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:00.729 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082741789, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:00.730 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082741789","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:00.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082716991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:00.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082716991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:01.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.38, rainFlag=0, windAngle=104.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:12:01.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:12:01.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:12:01.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082721284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:01.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082721284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:01.422 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113919976, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113919973, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:01.422 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:01.422 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:01.658 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86381520, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86381516, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:01.658 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:01.658 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:02.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335792644, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335792641, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:02.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:02.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:02.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082723043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:02.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082723043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:02.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082721109, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:12:02.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082721109","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:12:02.192 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.11, rainFlag=1, windAngle=341.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.25, cell_4Voltage=4.28, cell_6Voltage=4.28, cellTemp=14.90, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=83.00, voltage=25.50}}} +13:12:02.193 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:12:02.193 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:12:02.520 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213065421, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:02.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082722656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:02.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082722656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:02.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.09, rainFlag=0, windAngle=301.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93387617, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93387612, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:02.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:02.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:02.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082723674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:02.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082723674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:03.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.27, rainFlag=1, windAngle=27.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:12:03.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:12:03.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:12:03.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:03.497 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:03.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082724673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:03.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082724673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:03.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082744773, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:03.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082744773","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:03.845 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96888622, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96888616, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:03.845 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:03.846 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:03.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082719995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:03.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082719995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:04.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=5.00, windSpeed=1.11, rainFlag=0, windAngle=225.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201807060, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201807055, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:04.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:04.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:04.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88467027, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88467021, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:04.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:04.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:04.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082724280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:04.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082724280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:04.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:04.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:04.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121703904, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121703898, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:04.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:04.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:04.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:04.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:05.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082726052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:05.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082726052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:05.446 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,62] - 查询设备 by device_sn: 7CTDM7H00B5EM1 +13:12:05.447 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,65] - 查询设备结果: device_sn=7CTDM7H00B5EM1, result=37 +13:12:05.473 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,62] - 查询设备 by device_sn: 7CTXM9Q00B02H2 +13:12:05.473 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,65] - 查询设备结果: device_sn=7CTXM9Q00B02H2, result=31 +13:12:05.499 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,62] - 查询设备 by device_sn: 7CTXN7F00B0CLR +13:12:05.499 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,65] - 查询设备结果: device_sn=7CTXN7F00B0CLR, result=36 +13:12:05.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082725657, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:05.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082725657","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:05.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:05.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:05.624 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,62] - 查询设备 by device_sn: 7CTXN3500B07MA +13:12:05.624 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,65] - 查询设备结果: device_sn=7CTXN3500B07MA, result=35 +13:12:05.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082726661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:05.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082726661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:05.900 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,62] - 查询设备 by device_sn: 7CTXN5K00B0AXM +13:12:05.901 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,65] - 查询设备结果: device_sn=7CTXN5K00B0AXM, result=34 +13:12:06.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=13.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21093911, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:06.436 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,62] - 查询设备 by device_sn: 7CTXN3E00B0822 +13:12:06.437 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,65] - 查询设备结果: device_sn=7CTXN3E00B0822, result=32 +13:12:06.531 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,62] - 查询设备 by device_sn: 7CTXN1E00B06ZR +13:12:06.531 [MQTT Call: mqttx_dji_c1c67436] INFO c.r.d.d.i.DeviceDomainImpl - [selectDeviceByDeviceSn,65] - 查询设备结果: device_sn=7CTXN1E00B06ZR, result=33 +13:12:06.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082727674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:06.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082727674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113925271, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113925264, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:06.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:06.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:06.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082747788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:06.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082747788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:06.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082722989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:06.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082722989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:06.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86386809, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86386806, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:06.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:06.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:07.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335797934, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335797931, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:07.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:07.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:07.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082727279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:07.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082727279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:07.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:07.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:08.051 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=296.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93392915, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93392913, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:08.051 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:08.051 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:08.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082729039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:08.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082729039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:08.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082728642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:08.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082728642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:08.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:08.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:08.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:08.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:08.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082729672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:08.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082729672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:09.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96893934, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96893929, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:09.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:09.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:09.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:09.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:09.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.64, rainFlag=0, windAngle=199.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201812360, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201812356, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:09.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:09.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:09.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88472317, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88472312, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:09.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:09.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:09.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082730672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:09.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082730672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:09.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082750781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:09.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082750781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:09.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082725983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:09.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082725983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:09.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:12:09.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:12:09.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121709242, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121709235, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:09.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:09.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:10.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:10.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:10.195 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213073034, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:10.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082730293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:10.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082730293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:11.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.94, rainFlag=0, windAngle=117.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:12:11.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:12:11.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:12:11.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082732051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:11.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082732051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:11.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082731657, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:11.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082731657","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:11.830 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082732671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:11.830 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082732671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:12.003 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113930556, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113930552, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:12.003 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:12.003 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:12.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.46, rainFlag=1, windAngle=312.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:12:12.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:12:12.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:12:12.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86392099, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86392096, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:12.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:12.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:12.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082733668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:12.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082733668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:12.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335803215, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335803212, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:12.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:12.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:12.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082753785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:12.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082753785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:12.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082728984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:12.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082728984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:13.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.83, rainFlag=1, windAngle=72.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:12:13.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:12:13.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:12:13.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.09, rainFlag=0, windAngle=292.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93398210, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93398205, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:13.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:13.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:13.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082733288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:13.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082733288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:13.559 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:13.559 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:13.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21103802, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21101495, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:13.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:12:13.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:12:14.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082735043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:14.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082735043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:14.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96899229, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96899223, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:14.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:14.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:14.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082734648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:14.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082734648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:14.618 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.46, rainFlag=0, windAngle=191.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201817659, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201817656, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:14.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:14.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:14.652 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:14.652 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:14.754 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88477619, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88477613, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:14.754 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:14.754 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:14.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082735668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:14.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082735668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:14.876 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:14.876 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:15.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121714551, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.7}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121714545, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:15.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:15.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:15.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082736676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:15.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082736676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:15.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:15.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:15.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082756779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:15.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082756779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:15.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082731995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:15.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082731995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:16.014 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082736023, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:16.014 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082736023","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:16.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082736278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:16.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082736278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:17.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082738044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:17.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082738044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:17.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113935851, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.4, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113935846, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:17.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:17.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:17.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86397380, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86397378, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:17.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:17.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:17.545 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082737655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:17.545 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082737655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:17.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213082969, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213080689, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:17.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:12:17.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:12:17.828 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082738675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:17.828 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082738675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:17.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335808506, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335808503, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:17.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:17.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:17.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:17.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:18.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082739676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:18.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082739676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:18.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:18.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:18.682 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=294.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93403539, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93403496, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:18.682 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:18.682 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:18.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082759777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:18.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082759777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:18.881 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:18.881 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:18.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082734987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:18.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082734987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:19.290 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:19.290 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:19.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082739293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:19.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082739293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:19.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082740533, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:12:19.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082740533","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:12:19.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.74, rainFlag=0, windAngle=316.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201822956, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201822952, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:19.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:19.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:19.965 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:12:19.965 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:12:20.057 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88482922, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88482916, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:20.057 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:20.057 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:20.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082741047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:20.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082741047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:20.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:20.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:20.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082740649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:20.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082740649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:20.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121719853, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121719847, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:20.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:20.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:20.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96905561, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96905556, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:20.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:20.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:20.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082741673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:20.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082741673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:21.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.01, rainFlag=0, windAngle=115.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.33, cell_6Voltage=4.15, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.25, cell_2Voltage=4.29, cell_3Voltage=4.23, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:12:21.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:12:21.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:12:21.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21111415, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21109082, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:21.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:12:21.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:12:21.455 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082742091, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:21.455 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082742091","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:21.554 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082742273, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:21.554 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082742273","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:21.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082742670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:21.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082742670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:21.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082762786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:21.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082762786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:21.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082737994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:21.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082737994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:22.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=319.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=14.90, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:12:22.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:12:22.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:12:22.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082742281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:22.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082742281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:22.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113941142, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113941136, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:22.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:22.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:22.803 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86402660, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86402656, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:22.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:22.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:23.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082744046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:23.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082744046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:23.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335813796, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335813793, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:23.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:23.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:23.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.64, rainFlag=1, windAngle=9.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:12:23.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:12:23.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:12:23.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082743644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:23.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082743644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:23.622 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:23.622 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:23.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082744676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:23.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082744676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:23.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=0, windAngle=321.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93408848, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93408842, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:23.991 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:23.991 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:24.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082745677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:24.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082745677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:24.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082765776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:24.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082765776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:24.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:24.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:24.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082740994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:24.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082740994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:24.942 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:24.942 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:25.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.01, rainFlag=0, windAngle=322.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201828256, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201828251, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:25.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:25.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:25.350 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88488212, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88488206, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:25.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:25.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:25.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082745284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:25.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082745284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:25.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213090580, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213088257, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:25.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:12:25.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:12:25.674 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:25.674 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:25.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121725155, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121725149, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:25.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:25.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:26.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96910874, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96910869, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:26.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:26.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:26.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082747038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:26.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082747038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:26.154 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082745601, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:26.154 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082745601","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:26.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082746650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:26.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082746650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:26.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082747675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:26.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082747675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:27.607 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082748678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:27.607 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082748678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:27.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082768778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:27.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082768778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:27.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113946444, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113946438, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:27.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:27.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:27.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082743991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:27.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082743991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:28.005 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:28.005 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:28.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86407973, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86407970, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:28.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:28.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:28.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082748288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:28.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082748288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:28.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335819099, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335819095, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:28.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:28.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:28.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:28.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:28.936 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21119027, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21116703, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:28.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:12:28.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:12:28.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:28.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:29.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082750039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:29.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082750039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:29.287 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.00, rainFlag=0, windAngle=209.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93414150, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93414144, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:29.287 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:29.287 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:29.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:29.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:29.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082749652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:29.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082749652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:29.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082750661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:29.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082750661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:30.030 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:12:30.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:12:30.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:30.313 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:30.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.11, rainFlag=0, windAngle=330.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201833560, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201833553, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:30.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:30.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:30.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082751669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:30.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082751669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:30.648 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88493514, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88493508, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:30.648 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:30.648 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:30.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082771785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:30.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082771785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:30.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082746989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:30.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082746989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:31.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121730457, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121730451, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:31.129 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:31.129 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:31.307 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.31, rainFlag=0, windAngle=106.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:12:31.307 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:12:31.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:12:31.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082751294, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:31.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082751294","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:31.385 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96916174, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96916170, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:31.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:31.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:32.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=310.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=14.90, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:12:32.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:12:32.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:12:32.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082753039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:32.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082753039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:32.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082752650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:32.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082752650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:32.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082753674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:32.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082753674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:32.970 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213098193, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213095870, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:32.970 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:12:32.970 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:12:33.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.46, rainFlag=1, windAngle=56.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.15, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:12:33.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:12:33.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:12:33.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113951755, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113951737, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:33.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:33.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:33.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86413264, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86413260, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:33.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setAirportState,66] - 机巢状态变化: sn=THJSQ03B2410TGJ3MCJY, UNKNOWN -> ONLINE +13:12:33.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:33.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setDroneState,51] - 无人机状态变化: sn=THJSQ03B2410TGJ3MCJY, UNKNOWN -> POWER_OFF +13:12:33.401 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightServiceImpl - [createFlight,96] - 创建新的飞行记录: deviceSn=THJSQ03B2410TGJ3MCJY, flightId=15 +13:12:33.402 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:33.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082754672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:33.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082754672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:33.729 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082774787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:33.729 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082774787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:33.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:33.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:33.840 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335824450, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335824446, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:33.840 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:33.840 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:33.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082749992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:33.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082749992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:33.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082752942, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.15, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:12:33.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082752942","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.15","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:12:34.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082754281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:34.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082754281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:34.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.00, rainFlag=0, windAngle=224.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93419435, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93419431, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:34.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:34.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:34.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:34.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:34.999 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:35.000 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:35.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082756048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:35.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082756048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:35.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082755652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:35.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082755652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:35.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082756664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:35.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082756664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:35.857 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:35.857 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:35.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.83, rainFlag=0, windAngle=291.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201838907, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201838900, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:35.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:35.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:35.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88498805, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88498799, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:35.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:35.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:36.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121735755, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121735751, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:36.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:36.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:36.482 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21126640, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21124360, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:36.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:12:36.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:12:36.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082757667, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:36.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082757667","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:36.673 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96921463, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96921459, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:36.673 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:36.674 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:36.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082777783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:36.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082777783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:36.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082752985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:36.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082752985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:37.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082757276, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:37.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082757276","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:38.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:38.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:38.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082759049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:38.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082759049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:38.516 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113957058, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113957053, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:38.517 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:38.517 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:38.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082758650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:38.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082758650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:38.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86418555, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86418552, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:38.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:38.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:38.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082759661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:38.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082759661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:39.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:39.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:39.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:39.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:39.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335829755, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335829743, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:39.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:39.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:39.410 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:39.410 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:39.411 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setCoverState,81] - 舱门状态变化: sn=THJSQ03B2410TGJ3MCJY, UNKNOWN -> CLOSED +13:12:39.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082760668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:39.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082760668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:39.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082780776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:39.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082780776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:39.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93424731, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93424726, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:39.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:39.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:39.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082755987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:39.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082755987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:40.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:12:40.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:12:40.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082760285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:40.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082760285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:40.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:40.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:40.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213105805, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213103479, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:40.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:12:40.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:12:41.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082762046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:41.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082762046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:41.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.25, rainFlag=0, windAngle=108.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:12:41.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:12:41.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:12:41.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.01, rainFlag=0, windAngle=303.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201844206, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201844202, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:41.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:41.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:41.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88504096, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88504090, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:41.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:41.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:41.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082761652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:41.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082761652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:41.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121741050, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121741044, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:41.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:41.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:41.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082762666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:41.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082762666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:41.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96926742, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96926739, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:41.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:41.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:42.187 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=297.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:12:42.187 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:12:42.187 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:12:42.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082763682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:42.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082763682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:42.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082783777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:42.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082783777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:42.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082758996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:42.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082758996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:43.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.09, rainFlag=1, windAngle=159.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.8, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:12:43.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:12:43.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:12:43.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082763292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:43.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082763292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:43.444 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:12:43.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113962372, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113962366, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:43.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:43.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:43.888 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:43.888 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:43.998 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86423856, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86423853, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:43.998 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:43.998 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:44.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21131927, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:44.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082765035, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:44.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082765035","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:44.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335835048, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335835045, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:44.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:44.427 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:44.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082764656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:44.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082764656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:44.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082765672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:44.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082765672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:44.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:44.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:45.197 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:45.197 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:45.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93430070, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93430064, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:45.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:45.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:45.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082766667, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:45.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082766667","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:45.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082786777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:45.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082786777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:45.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082761995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:45.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082761995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:45.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:45.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:46.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082766278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:46.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082766278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:46.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.92, rainFlag=0, windAngle=288.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201849508, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201849502, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:46.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:46.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:46.517 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88509384, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88509379, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:46.518 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:46.518 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:47.076 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121746351, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121746345, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:47.076 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:47.076 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:47.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082768049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:47.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082768049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:47.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96932034, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96932030, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:47.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:47.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:47.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082767643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:47.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082767643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:47.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082767733, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:47.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082767733","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:47.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082768674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:47.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082768674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:48.129 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:48.129 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:48.193 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213111145, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:48.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082769679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:48.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082769679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:48.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082789775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:48.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082789775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:48.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082764987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:48.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082764987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:49.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:49.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:49.076 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:49.076 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:49.126 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113967674, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113967668, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:49.126 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:49.126 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:49.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86429159, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86429155, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:49.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:49.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:49.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082769282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:49.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082769282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:49.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:49.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:49.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082770614, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.55, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:12:49.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082770614","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.55","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:12:49.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335840328, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335840325, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:49.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:49.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:50.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082771038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:50.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082771038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:50.160 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:12:50.160 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:12:50.518 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.09, rainFlag=0, windAngle=278.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93435374, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93435371, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:50.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:50.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:50.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082770641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:50.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082770641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:50.699 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:50.699 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:12:50.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082771671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:50.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082771671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:51.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.37, rainFlag=0, windAngle=93.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:12:51.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:12:51.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:12:51.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082772676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:51.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082772676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:51.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.9, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21139549, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:51.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082792782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:51.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082792782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:51.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.75, rainFlag=0, windAngle=289.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201854808, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201854804, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:51.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:51.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:51.869 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88514732, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88514675, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:51.869 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:51.869 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:51.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082767994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:51.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082767994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:52.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=308.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=16.90, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:12:52.160 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:12:52.160 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:12:52.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121751638, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121751634, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:52.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:52.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:52.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082772276, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:52.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082772276","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:52.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96937317, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96937313, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:52.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:52.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:53.069 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082773704, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:53.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082773704","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:53.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082774038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:53.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082774038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:53.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082773887, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:53.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082773887","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:53.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.74, rainFlag=1, windAngle=354.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:12:53.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:12:53.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:12:53.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082773655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:53.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082773655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:53.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082774664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:53.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082774664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:53.956 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:53.956 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:12:54.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113972986, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113972981, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:54.436 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:54.436 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:54.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86434439, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86434435, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:54.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:54.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:12:54.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082775670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:54.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082775670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:54.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082795775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:54.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082795775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:54.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082770983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:54.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082770983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:54.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:54.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:12:54.987 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335845608, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335845605, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:54.987 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:12:54.987 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:12:55.262 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:55.262 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:12:55.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082775278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:55.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082775278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:55.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93440670, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93440664, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:55.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:12:55.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:12:55.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213118714, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:55.983 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:55.983 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:12:56.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082777052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:56.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082777052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:56.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082776646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:56.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082776646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:56.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082777660, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:56.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082777660","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:57.073 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.57, rainFlag=0, windAngle=295.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201860108, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201860104, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:57.073 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:12:57.073 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:12:57.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88520019, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88520015, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:57.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:12:57.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:12:57.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121756920, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121756916, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:57.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:12:57.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:12:57.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082778681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:57.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082778681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:12:57.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082798788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:57.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082798788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:12:57.844 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96942619, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96942614, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:57.844 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:12:57.845 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:12:57.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082773989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:57.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082773989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:12:57.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082777396, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:57.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082777396","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:58.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:58.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:12:58.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082778287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:12:58.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082778287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:12:59.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:59.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:12:59.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082780049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:59.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082780049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:12:59.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:59.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:12:59.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21149476, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.8, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21147149, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:59.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:12:59.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:12:59.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:59.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:12:59.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082779642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:59.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082779642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:12:59.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113978274, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113978269, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:59.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:12:59.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:12:59.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082780661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:12:59.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082780661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:12:59.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86439755, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86439727, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:12:59.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:12:59.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:00.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:00.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:00.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335850889, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335850887, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:00.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:00.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:00.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082781677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:00.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082781677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:00.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082801786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:00.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082801786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:00.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:00.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:00.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082776996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:00.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082776996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:01.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93445971, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93445966, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:01.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:01.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:01.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=1.00, windSpeed=5.37, rainFlag=0, windAngle=88.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:13:01.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:13:01.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:13:01.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082781290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:01.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082781290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:02.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082783045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:02.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082783045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:02.239 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=311.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:13:02.239 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:13:02.240 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:13:02.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.48, rainFlag=0, windAngle=307.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201865400, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201865396, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:02.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:02.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:02.449 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88525314, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88525308, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:02.450 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:02.450 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:02.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082782650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:02.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082782650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:02.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082783664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:02.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082783664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:02.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121762213, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121762208, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:02.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:02.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:03.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.46, rainFlag=1, windAngle=113.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:13:03.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:13:03.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:13:03.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96947944, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96947938, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:03.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:03.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:03.417 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213128641, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213126325, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:03.417 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:13:03.417 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:13:03.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082784674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:03.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082784674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:03.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082804775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:03.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082804775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:03.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082779987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:03.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082779987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:04.015 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:04.015 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:04.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082784280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:04.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082784280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:05.062 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:05.063 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:05.083 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113983626, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113983620, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:05.083 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:05.084 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:05.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082786049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:05.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082786049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:05.187 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86445053, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86445049, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:05.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:05.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:05.330 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:05.330 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:05.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082785646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:05.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082785646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:05.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335856166, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335856164, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:05.545 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:05.545 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:05.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082784736, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:13:05.775 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082784736","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:13:05.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082786667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:05.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082786667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:06.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:06.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:06.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93451263, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93451257, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:06.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:06.400 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:06.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082787684, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:06.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082787684","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:06.728 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082807789, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:06.728 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082807789","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:06.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082782992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:06.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082782992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:06.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21157088, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.8, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21154818, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:06.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:13:06.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:13:07.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082787280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:07.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082787280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:07.643 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.92, rainFlag=0, windAngle=327.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201870681, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201870677, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:07.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:07.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:07.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88530603, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88530599, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:07.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:07.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:08.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082789041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:08.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082789041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:08.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121767519, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121767517, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:08.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:08.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:08.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:08.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:08.455 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96953229, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96953225, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:08.455 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:08.455 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:08.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082788649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:08.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082788649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:08.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082789669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:08.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082789669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:09.209 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:09.209 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:09.427 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:13:09.427 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:13:09.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:09.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:09.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082790679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:09.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082790679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:09.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082810781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:09.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082810781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:09.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082785987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:09.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082785987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:10.290 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:10.290 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:10.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082790291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:10.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082790291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:10.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113988921, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113988917, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:10.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:10.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:10.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86450333, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86450329, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:10.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:10.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:10.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335861459, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335861455, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:10.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:10.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:11.077 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:11.077 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:11.083 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.79, rainFlag=0, windAngle=96.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.23, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:13:11.083 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:13:11.083 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:13:11.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213136254, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213133939, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:11.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:13:11.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:13:11.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082792038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:11.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082792038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:11.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082791652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:11.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082791652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:11.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=262.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93456562, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93456559, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:11.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:11.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:11.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082792663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:11.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082792663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:12.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=324.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:13:12.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:13:12.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:13:12.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082793673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:12.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082793673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:12.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082813779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:12.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082813779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:12.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082788985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:12.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082788985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:12.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.29, rainFlag=0, windAngle=320.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201875972, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201875967, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:12.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:12.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:13.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88535906, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88535901, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:13.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:13.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:13.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.27, rainFlag=1, windAngle=2.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.15, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:13:13.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:13:13.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:13:13.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082793290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:13.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082793290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:13.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121772815, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121772810, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:13.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:13.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:13.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96958534, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96958531, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:13.747 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:13.747 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:14.028 [scheduling-1] INFO c.r.d.s.i.SynService - [updateDevicesScheduled,194] - ========== 开始执行定时任务：同步基础表数据 ========== +13:13:14.032 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,132] - 成功加载 1 个网关设备，共扫描 10 个设备，跳过 0 个空页 +13:13:14.069 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:14.069 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:14.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082795052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:14.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082795052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:14.332 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,135] - 没有找到更多网关设备，共扫描 25 个设备，跳过 3 个空页 +13:13:14.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082794650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:14.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082794650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:14.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21164701, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.8, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21162374, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:14.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:13:14.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:13:14.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082795667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:14.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082795667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:15.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:15.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:15.392 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:15.392 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:15.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082796676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:15.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082796676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:15.657 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113994211, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113994208, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:15.657 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:15.657 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:15.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082816787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:15.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082816787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:15.747 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86455612, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86455609, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:15.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:15.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:15.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082791988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:15.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082791988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:16.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:16.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:16.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335866770, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335866747, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:16.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:16.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:16.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082796290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:16.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082796290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:17.010 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=303.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93461865, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93461860, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:17.011 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:17.011 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:17.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082798046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:17.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082798046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:17.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082797643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:17.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082797643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:17.830 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082798667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:17.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082798667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:18.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.29, rainFlag=0, windAngle=307.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201881285, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201881281, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:18.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:18.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:18.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:18.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:18.385 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88541245, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88541239, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:18.385 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:18.385 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:18.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082799673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:18.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082799673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:18.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213143867, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213141581, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:18.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:13:18.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:13:18.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082819784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:18.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082819784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:18.801 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121778110, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121778103, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:18.801 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:18.801 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:18.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082794982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:18.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082794982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:19.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96963838, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96963832, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:19.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:19.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:19.270 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:19.270 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:19.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082799290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:19.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082799290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:19.477 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082799479, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:19.478 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082799479","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:19.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:13:19.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:13:19.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:19.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:19.681 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082800683, roll=0, lon=0, battery=0.9, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.58, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:13:19.681 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.9","date":"1772082800683","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.58","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:13:20.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082801041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:20.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082801041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:20.352 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:20.353 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:20.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082800646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:20.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082800646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:20.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082801668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:20.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082801668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:20.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=113999496, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=113999490, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:20.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:20.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:21.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86460904, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86460900, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:21.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:21.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:21.052 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.68, rainFlag=0, windAngle=99.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.9, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:13:21.052 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:13:21.052 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:13:21.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:21.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:21.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335872063, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335872059, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:21.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:21.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:21.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082802668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:21.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082802668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:21.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082822787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:21.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082822787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:21.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082797989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:21.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082797989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:22.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21172313, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.8, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21169975, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:22.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:13:22.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:13:22.192 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=351.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:13:22.192 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:13:22.192 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:13:22.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.09, rainFlag=0, windAngle=300.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93467163, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93467160, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:22.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:22.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:22.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082802275, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:22.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082802275","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:23.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082804053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:23.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082804053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:23.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.37, rainFlag=1, windAngle=183.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.35, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:13:23.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:13:23.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:13:23.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082803653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:23.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082803653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:23.553 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.38, rainFlag=0, windAngle=323.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201886589, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201886583, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:23.554 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:23.554 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:23.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88546544, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88546538, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:23.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:23.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:23.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082804667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:23.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082804667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:24.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121783399, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121783393, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:24.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:24.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:24.124 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:24.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:24.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96969140, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96969134, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:24.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:24.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:24.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082805678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:24.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082805678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:24.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082825775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:24.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082825775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:24.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082805357, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:24.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082805357","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:24.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082805541, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:24.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082805541","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:24.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082800993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:24.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082800993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:25.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:25.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:25.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082805289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:25.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082805289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:25.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:25.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:26.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082807047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:26.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082807047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:26.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:26.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:26.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114004787, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114004781, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:26.234 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:26.234 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:26.266 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213151478, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213149161, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:26.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:13:26.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:13:26.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86466184, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86466180, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:26.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:26.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:26.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082806654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:26.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082806654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:26.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335877353, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335877350, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:26.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:26.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:26.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082807669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:26.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082807669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:27.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082808680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:27.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082808680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:27.609 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=306.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93472469, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93472465, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:27.609 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:27.610 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:27.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082828785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:27.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082828785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:27.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082803989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:27.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082803989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:28.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082808292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:28.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082808292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:28.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:28.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:28.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.29, rainFlag=0, windAngle=312.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201891890, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201891886, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:28.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:28.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:28.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88551833, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88551828, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:28.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:28.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:29.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082810048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:29.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082810048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:29.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:29.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:29.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121788754, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121788698, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:29.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:29.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:29.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082809642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:29.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082809642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:29.653 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96974433, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96974427, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:29.653 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:29.653 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:29.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:29.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:29.767 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082809213, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:29.767 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082809213","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:29.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082810667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:29.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082810667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:29.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:13:29.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:13:29.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.8, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21177598, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:30.411 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:30.411 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:30.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082811678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:30.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082811678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:30.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082831781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:30.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082831781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:30.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082806986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:30.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082806986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:31.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:31.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:31.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.14, rainFlag=0, windAngle=91.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.9, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:13:31.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:13:31.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:13:31.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082811281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:31.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082811281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:31.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114010078, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114010072, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:31.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:31.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:31.618 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86471475, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86471471, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:31.618 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:31.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:32.026 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335882645, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335882641, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:32.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:32.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:32.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082813044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:32.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082813044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:32.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=314.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:13:32.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:13:32.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:13:32.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082812646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:32.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082812646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:32.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082813669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:32.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082813669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:32.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93477773, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93477767, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:32.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:32.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:33.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.37, rainFlag=1, windAngle=298.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:13:33.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:13:33.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:13:33.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082814679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:33.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082814679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:33.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082834787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:33.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082834787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:33.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213156761, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:33.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082809994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:33.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082809994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:34.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.01, rainFlag=0, windAngle=350.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201897182, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201897176, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:34.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:34.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:34.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:34.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:34.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88557120, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88557117, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:34.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:34.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082814285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082814285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:34.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121794047, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121794041, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:34.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:34.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:34.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96979744, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96979738, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:34.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:34.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:35.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082816045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:35.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082816045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:35.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:35.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:35.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:35.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:35.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082815650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:35.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082815650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:35.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082816673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:35.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082816673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:36.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:36.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:36.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082817677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:36.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082817677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:36.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082837787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:36.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082837787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:36.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114015368, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114015363, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:36.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:36.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:36.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86476764, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86476761, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:36.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:36.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:36.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082812996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:36.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082812996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:37.313 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335887936, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335887932, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:37.313 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:37.313 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:37.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082817283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:37.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082817283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:37.379 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.8, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21185266, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:37.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082816588, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:13:37.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082816588","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:13:38.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082819041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:38.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082819041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:38.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93483086, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93483080, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:38.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:38.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:38.492 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:38.492 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:38.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082818650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:38.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082818650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:38.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082819662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:38.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082819662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:39.403 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:39.404 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:39.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.92, rainFlag=0, windAngle=7.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201902479, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201902475, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:39.443 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:39.443 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:39.550 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88562416, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88562410, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:39.550 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:39.551 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:39.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082820673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:39.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082820673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:39.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082840779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:39.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082840779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:39.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:39.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:39.884 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:13:39.884 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:13:39.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082815986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:39.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082815986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:40.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121799348, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121799343, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:40.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:40.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:40.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96985034, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96985029, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:40.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:40.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:40.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082820288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:40.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082820288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:40.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:40.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:41.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.53, rainFlag=0, windAngle=101.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:13:41.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:13:41.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:13:41.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082822038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:41.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082822038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:41.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:41.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:41.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082821651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:41.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082821651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:41.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213164374, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:41.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082822674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:41.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082822674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:42.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114020669, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114020664, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:42.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:42.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:42.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86482054, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86482051, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:42.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:42.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:42.234 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=314.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:13:42.234 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:13:42.234 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:13:42.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082823681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:42.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082823681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:42.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335893215, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335893212, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:42.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:42.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:42.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082843773, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:42.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082843773","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:42.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082818997, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:42.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082818997","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:43.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=4.00, windSpeed=3.61, rainFlag=1, windAngle=183.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:13:43.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:13:43.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:13:43.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082823282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:43.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082823282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:43.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93488383, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93488379, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:43.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:43.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:44.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082825044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:44.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082825044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:44.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:44.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:44.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082824650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:44.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082824650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:44.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.64, rainFlag=0, windAngle=19.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201907774, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201907769, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:44.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:44.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:44.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082825663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:44.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082825663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:44.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88567731, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88567701, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:44.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:44.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:44.992 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21195150, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.8, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21192833, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:44.993 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:13:44.993 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:13:45.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:45.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:45.333 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121804651, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121804645, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:45.333 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:45.333 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:45.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96990331, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96990328, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:45.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:45.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:45.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:45.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:45.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082826682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:45.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082826682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:45.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082846785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:45.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082846785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:45.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082821987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:45.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082821987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:46.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:46.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:46.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082826291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:46.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082826291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:47.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082828047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:47.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082828047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:47.400 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114025955, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114025952, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:47.401 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:47.401 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:47.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86487334, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86487331, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:47.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:47.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:47.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082827648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:47.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082827648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:47.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082828677, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:47.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082828677","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:47.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335898495, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335898491, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:47.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:47.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:48.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:48.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:48.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082829680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:48.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082829680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:48.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082849777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:48.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082849777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:48.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=231.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93493675, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93493672, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:48.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:48.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:48.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082824987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:48.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082824987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:49.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213174316, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213172031, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:49.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:13:49.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:13:49.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082829289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:49.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082829289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:49.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:49.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:49.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082830765, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:13:49.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082830765","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:13:49.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:49.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:49.941 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:13:49.941 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:13:50.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.46, rainFlag=0, windAngle=47.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201913060, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201913057, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:50.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:50.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:50.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082831050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:50.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082831050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:50.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88573030, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88573025, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:50.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:50.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:50.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082830655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:50.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082830655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:50.729 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:50.729 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:13:50.793 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121810000, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121809993, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:50.793 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:50.793 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:50.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082831675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:50.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082831675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:50.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=96995626, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=96995621, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:50.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:50.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:51.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082831181, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:51.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082831181","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:51.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.51, rainFlag=0, windAngle=99.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.9, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:13:51.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:13:51.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:13:51.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082832671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:51.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082832671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:51.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:51.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:13:51.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082852776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:51.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082852776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:51.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082827995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:51.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082827995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:52.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=338.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:13:52.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:13:52.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:13:52.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082832274, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:52.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082832274","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:52.601 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21202761, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.7, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21200434, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:52.601 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:13:52.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:13:52.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114031241, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114031235, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:52.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:52.699 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:52.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86492616, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86492613, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:52.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:52.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:53.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=2.77, rainFlag=1, windAngle=189.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.50, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:13:53.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:13:53.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:13:53.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082834044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:53.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082834044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:53.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335903775, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335903772, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:53.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:53.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:53.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082833656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:53.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082833656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:53.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082834664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:53.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082834664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:54.102 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=242.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93498967, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93498963, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:54.102 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:54.102 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:54.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:54.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:13:54.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082835671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:54.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082835671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:54.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082855788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:54.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082855788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:54.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082830983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:54.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082830983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:55.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.01, rainFlag=0, windAngle=4.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201918351, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201918348, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:55.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:13:55.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:13:55.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082835289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:55.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082835289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:55.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:55.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:13:55.455 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88578321, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88578316, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:55.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:13:55.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:13:55.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:55.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:13:55.963 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121815287, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121815282, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:55.963 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:13:55.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:13:56.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97000929, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97000924, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:56.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:13:56.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:13:56.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082837046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:56.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082837046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:56.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:56.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:13:56.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082837051, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:56.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082837051","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:56.424 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082837146, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:56.424 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082837146","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:56.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082836657, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:56.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082836657","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:56.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213181928, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213179611, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:56.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:13:56.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:13:56.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082837662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:56.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082837662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:57.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082838672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:57.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082838672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:13:57.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082858784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:57.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082858784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:13:57.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082833984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:57.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082833984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:13:57.988 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114036531, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114036526, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:57.988 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:13:57.988 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:13:58.058 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86497918, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86497915, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:58.059 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:13:58.059 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:13:58.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082838281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:13:58.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082838281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:13:58.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335909065, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335909062, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:58.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:13:58.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:13:58.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:58.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:13:58.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:13:59.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082840040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:59.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082840040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:13:59.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=245.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93504260, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93504255, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:13:59.396 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:13:59.396 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:13:59.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082839646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:59.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082839646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:13:59.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:59.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:13:59.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082840662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:13:59.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082840662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:13:59.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:13:59.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:00.265 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:00.265 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:00.283 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21210373, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.7, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21208037, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:00.283 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:14:00.283 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:14:00.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082841673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:00.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082841673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:00.604 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.11, rainFlag=0, windAngle=345.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201923636, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201923630, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:00.604 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:00.604 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:00.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082861775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:00.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082861775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:00.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88583624, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88583618, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:00.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:00.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:00.768 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:00.768 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:00.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082836989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:00.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082836989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:01.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.29, rainFlag=0, windAngle=109.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.23, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.9, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:14:01.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:14:01.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:14:01.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121820588, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121820584, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:01.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:01.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:01.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082841291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:01.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082841291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:01.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97006216, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97006212, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:01.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:01.432 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:01.502 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082840949, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:01.503 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082840949","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:01.650 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:01.650 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:02.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082843047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:02.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082843047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:02.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.09, rainFlag=1, windAngle=323.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=14.90, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.4, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:14:02.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:14:02.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:14:02.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082842644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:02.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082842644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:02.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082843673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:02.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082843673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:03.240 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=1.94, rainFlag=1, windAngle=187.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.02}}} +13:14:03.240 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:14:03.240 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:14:03.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114041834, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114041828, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:03.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:03.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:03.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86503209, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86503205, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:03.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:03.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:03.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082844672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:03.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082844672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:03.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082864777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:03.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082864777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:03.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335914346, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335914343, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:03.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:03.733 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:03.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082839981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:03.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082839981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:04.318 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213189541, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213187220, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:04.318 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:14:04.318 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:14:04.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082844284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:04.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082844284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:04.377 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:04.377 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:04.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=236.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93509551, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93509545, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:04.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:04.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:05.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082846053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:05.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082846053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:05.463 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:05.463 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:05.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082845643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:05.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082845643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:05.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:05.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:05.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082846665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:05.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082846665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:05.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.83, rainFlag=0, windAngle=294.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201928937, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201928932, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:05.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:05.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:06.058 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88588925, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88588919, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:06.058 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:06.058 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:06.436 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:06.436 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:06.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082847678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:06.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082847678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:06.660 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121825879, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121825874, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:06.660 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:06.660 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:06.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082867776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:06.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082867776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:06.733 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97011512, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97011505, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:06.733 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:06.733 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:06.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082842998, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:06.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082842998","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:07.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082847278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:07.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082847278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:07.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21217986, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.7, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21215702, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:07.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:14:07.828 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:14:08.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082849039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:08.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082849039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:08.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082848646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:08.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082848646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:08.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114047125, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114047119, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:08.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:08.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:08.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86508489, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86508485, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:08.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:08.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:08.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:08.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:08.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082849663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:08.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082849663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:09.006 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335919625, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335919622, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:09.006 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:09.006 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:09.401 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082848363, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:14:09.401 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082848363","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:14:09.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082850674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:09.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082850674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:09.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:09.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:09.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082870775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:09.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082870775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:09.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082845986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:09.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082845986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:09.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:09.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:09.972 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=248.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93514837, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93514834, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:09.972 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:09.972 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:10.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:10.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:10.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082850291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:10.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082850291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:10.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:10.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:11.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.51, rainFlag=0, windAngle=104.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.9, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:14:11.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:14:11.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:14:11.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082852042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:11.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082852042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:11.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.64, rainFlag=0, windAngle=24.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201934239, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201934234, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:11.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:11.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:11.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88594216, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88594211, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:11.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:11.351 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:11.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082851642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:11.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082851642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:11.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082852664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:11.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082852664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:11.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121831181, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121831175, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:11.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:11.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:11.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:11.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:11.987 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213197152, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213194834, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:11.988 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:14:11.988 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:14:12.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97016811, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97016806, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:12.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:12.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:12.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=327.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:14:12.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:14:12.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:14:12.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082853670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:12.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082853670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:12.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082873789, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:12.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082873789","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:12.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082848989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:12.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082848989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:13.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.92, rainFlag=1, windAngle=210.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:14:13.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:14:13.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:14:13.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082853288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:13.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082853288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:13.872 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114052426, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114052420, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:13.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:13.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:13.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86513768, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86513764, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:13.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:13.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:14.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082855044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:14.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082855044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:14.297 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335924917, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335924913, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:14.297 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:14.297 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:14.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:14.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:14.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082854643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:14.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082854643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:14.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082855665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:14.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082855665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:15.268 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=261.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93520132, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93520126, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:15.268 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:15.269 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:15.441 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.7, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21223281, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:15.521 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:15.521 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:15.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082856667, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:15.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082856667","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:15.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082876778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:15.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082876778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:15.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:15.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:15.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082851985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:15.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082851985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:16.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082856279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:16.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082856279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:16.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:16.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:16.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.83, rainFlag=0, windAngle=349.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201939576, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201939570, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:16.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:16.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:16.641 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88599507, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88599501, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:16.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:16.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:17.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082858047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:17.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082858047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:17.182 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121836505, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121836500, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:17.182 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:17.182 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:17.338 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97022125, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97022120, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:17.338 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:17.338 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:17.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082857648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:17.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082857648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:17.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082858666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:17.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082858666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:18.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082859677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:18.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082859677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:18.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082879786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:18.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082879786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:18.759 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:18.759 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:18.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082854987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:18.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082854987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:19.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86519059, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86519056, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:19.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:19.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:19.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114057755, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114057711, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:19.207 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:19.207 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:19.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082859291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:19.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082859291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:19.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213202489, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:19.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335930196, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335930192, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:19.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:19.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:19.681 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:19.681 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:19.841 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082860843, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.55, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:14:19.841 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082860843","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.55","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:14:20.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:20.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:20.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082861052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:20.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082861052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:20.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:20.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:20.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082860651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:20.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082860651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:20.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=270.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93525420, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93525416, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:20.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:20.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:20.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082861661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:20.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082861661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:20.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:20.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:21.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.64, rainFlag=0, windAngle=92.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.9, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:14:21.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:14:21.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:14:21.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082862671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:21.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082862671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:21.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082882788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:21.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082882788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:21.843 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.38, rainFlag=0, windAngle=356.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201944876, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201944871, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:21.844 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:21.844 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:21.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082857988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:21.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082857988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:21.943 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88604809, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88604803, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:21.943 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:21.943 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:22.033 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:22.033 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:22.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=342.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:14:22.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:14:22.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:14:22.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082862285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:22.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082862285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:22.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121841807, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121841801, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:22.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:22.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:22.632 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97027416, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97027411, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:22.632 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:22.632 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:22.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082862908, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:22.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082862908","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:23.051 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.7, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21230891, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:23.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.29, rainFlag=1, windAngle=345.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.35, cell_4Voltage=4.37, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:14:23.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:14:23.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:14:23.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082864042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:23.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082864042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:23.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082863654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:23.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082863654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:23.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082864663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:23.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082864663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:24.498 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86524360, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86524357, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:24.498 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:24.498 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:24.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:24.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:24.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114063052, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114063047, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:24.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:24.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:24.610 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082865681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:24.610 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082865681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:24.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082885775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:24.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082885775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:24.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335935487, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335935484, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:24.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:24.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:24.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082860984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:24.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082860984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:25.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082865287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:25.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082865287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:25.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:25.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:25.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:25.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:25.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=276.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93530751, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93530745, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:25.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:25.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:26.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082867038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:26.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082867038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:26.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082866651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:26.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082866651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:26.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:26.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:26.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082867664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:26.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082867664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:27.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.66, rainFlag=0, windAngle=9.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201950175, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201950171, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:27.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:27.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:27.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213210046, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:27.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88610109, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88610104, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:27.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:27.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:27.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082868668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:27.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082868668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:27.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082888779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:27.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082888779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:27.772 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121847098, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121847092, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:27.772 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:27.773 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:27.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082863990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:27.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082863990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:27.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97032718, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97032712, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:27.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:27.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:28.040 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082868762, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:28.040 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082868762","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:28.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082868752, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:28.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082868752","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:28.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082868280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:28.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082868280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:28.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:28.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:29.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082870049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:29.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082870049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:29.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082869655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:29.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082869655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:29.742 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:29.742 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:29.787 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86529652, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86529648, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:29.787 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:29.787 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:29.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114068354, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114068348, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:29.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:29.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:29.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082870662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:29.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082870662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:30.057 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:30.057 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:30.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335940775, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335940773, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:30.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:30.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:30.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082871681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:30.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082871681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:30.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:30.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:30.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082891785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:30.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082891785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:30.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21240823, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.7, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21238505, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:30.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:14:30.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:14:30.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082866981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:30.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082866981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:30.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:30.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:31.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.44, rainFlag=0, windAngle=94.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:14:31.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:14:31.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:14:31.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=262.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93536050, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93536044, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:31.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:31.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:31.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082871293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:31.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082871293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:32.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:32.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:32.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082873040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:32.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082873040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:32.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=327.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:14:32.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:14:32.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:14:32.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.31, rainFlag=0, windAngle=355.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201955480, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201955474, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:32.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:32.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:32.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88615401, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88615396, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:32.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:32.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:32.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082872652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:32.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082872652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:32.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082873664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:32.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082873664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:33.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121852399, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121852394, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:33.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:33.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:33.227 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97038018, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97038013, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:33.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:33.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:33.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082872724, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:33.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082872724","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:33.290 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=2.50, rainFlag=1, windAngle=192.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:14:33.290 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:14:33.291 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:14:33.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082874670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:33.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082874670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:33.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082894790, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:33.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082894790","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:33.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082869987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:33.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082869987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:34.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082874280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:34.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082874280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:34.561 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:34.561 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:34.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213219989, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213217670, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:34.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:14:34.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:14:35.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86534932, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86534928, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:35.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:35.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:35.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114073657, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114073650, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:35.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:35.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:35.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082876037, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:35.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082876037","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:35.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335946070, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335946066, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:35.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:35.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:35.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082875654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:35.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082875654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:35.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:35.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:35.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082876671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:35.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082876671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:35.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:35.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:36.480 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.00, rainFlag=0, windAngle=192.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93541340, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93541335, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:36.480 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:36.480 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:36.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082877679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:36.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082877679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:36.658 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:36.658 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:36.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082897775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:36.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082897775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:36.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082872988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:36.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082872988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:37.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082877289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:37.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082877289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:37.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.03, rainFlag=0, windAngle=352.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201960770, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201960765, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:37.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:37.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:37.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88620732, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88620688, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:37.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:37.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:38.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082879046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:38.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082879046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:38.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21248435, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.7, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21246161, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:38.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:14:38.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:14:38.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121857699, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121857695, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:38.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:38.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:38.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97043312, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97043305, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:38.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:38.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:38.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082878650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:38.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082878650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:38.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082879666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:38.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082879666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:38.882 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:38.882 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:39.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082880679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:39.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082880679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:39.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082900779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:39.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082900779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:39.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:39.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:39.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082875994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:39.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082875994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:40.118 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:40.118 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:40.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082880285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:40.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082880285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:40.394 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114078947, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114078942, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:40.394 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:40.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:40.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86540255, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86540251, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:40.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:40.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:40.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335951349, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335951346, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:40.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:40.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:40.771 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:40.771 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:40.997 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:40.997 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:41.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082882039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:41.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082882039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:41.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.74, rainFlag=0, windAngle=96.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.8, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:14:41.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:14:41.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:14:41.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082880174, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:14:41.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082880174","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:14:41.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082881651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:41.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082881651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:41.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.09, rainFlag=0, windAngle=254.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93546642, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93546637, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:41.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:41.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:41.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082882666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:41.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082882666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:42.172 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=330.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.26, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:14:42.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:14:42.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:14:42.422 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:42.422 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:42.438 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213227601, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213225272, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:42.438 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:14:42.438 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:14:42.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082883671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:42.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082883671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:42.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082903789, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:42.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082903789","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:42.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082878986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:42.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082878986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:43.032 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.94, rainFlag=0, windAngle=354.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201966068, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201966064, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:43.032 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:43.032 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:43.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=2.12, rainFlag=1, windAngle=182.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:14:43.118 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:14:43.118 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:14:43.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88626016, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88626010, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:43.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:43.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:43.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082883282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:43.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082883282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:43.672 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121862993, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121862987, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:43.672 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:43.672 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:43.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97048603, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97048597, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:43.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:43.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:44.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082885042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:44.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082885042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:44.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082884658, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:44.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082884658","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:44.631 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:44.631 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:44.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082885675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:44.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082885675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:45.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082886676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:45.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082886676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:45.697 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86545562, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86545558, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:45.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:45.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:45.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082906784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:45.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082906784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:45.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:45.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:45.778 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114084296, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114084289, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:45.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:45.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:45.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21256048, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21253718, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:45.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:14:45.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:14:45.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082881984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:45.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082881984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:46.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:46.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:46.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335956651, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335956647, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:46.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:46.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:46.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082886288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:46.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082886288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:46.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:46.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:47.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=293.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93551945, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93551939, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:47.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:47.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:47.154 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082888051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:47.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082888051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:47.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082887655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:47.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082887655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:47.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082888670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:47.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082888670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:48.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.75, rainFlag=0, windAngle=3.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201971359, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201971356, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:48.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:48.322 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:48.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88631306, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88631301, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:48.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:48.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:48.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082889678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:48.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082889678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:48.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082909777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:48.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082909777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:48.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082884982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:48.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082884982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:48.982 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121868305, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121868300, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:48.983 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:48.983 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:49.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97053904, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97053899, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:49.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:49.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:49.298 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:49.298 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:49.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082889288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:49.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082889288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:49.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:49.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:49.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082890925, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:14:49.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082890925","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:14:49.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213235214, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213232949, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:49.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:14:49.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:14:50.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082891037, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:50.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082891037","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:50.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:50.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:14:50.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082890651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:50.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082890651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:50.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082891665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:50.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082891665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:50.832 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:50.832 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:14:50.997 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86550859, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86550856, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:50.998 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:50.998 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:51.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114089590, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.3, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114089587, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:51.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:51.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:51.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:51.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:14:51.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.72, rainFlag=0, windAngle=91.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.23, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.8, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:14:51.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:14:51.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:14:51.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335961941, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335961937, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:51.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:51.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:51.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082892672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:51.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082892672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:51.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082912784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:51.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082912784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:51.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082887994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:51.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082887994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:52.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=333.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:14:52.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:14:52.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:14:52.355 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082892275, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:52.355 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082892275","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:52.392 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=256.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93557256, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93557251, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:52.393 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:52.393 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:52.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:52.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:14:53.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.74, rainFlag=1, windAngle=195.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:14:53.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:14:53.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:14:53.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082894043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:53.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082894043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:53.502 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21263660, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21261342, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:53.502 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:14:53.502 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:14:53.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082893648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:53.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082893648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:53.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.29, rainFlag=0, windAngle=357.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201976653, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201976648, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:53.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:53.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:53.731 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88636598, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88636592, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:53.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:53.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:53.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082894676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:53.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082894676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:54.283 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121873608, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121873602, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:54.283 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:54.283 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:54.419 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97059206, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97059200, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:54.419 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:54.419 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:54.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082895669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:54.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082895669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:54.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082894620, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:54.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082894620","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:54.682 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:54.682 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:14:54.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082915786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:54.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082915786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:54.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082890984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:54.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082890984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:55.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082895291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:55.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082895291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:55.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:55.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:14:56.073 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:56.073 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:14:56.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082897040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:56.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082897040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:56.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86556150, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86556147, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:56.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:14:56.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:14:56.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114094895, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114094889, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:56.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:14:56.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:14:56.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082896647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:56.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082896647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:56.626 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335967243, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335967240, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:56.626 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:14:56.626 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:14:56.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:56.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:14:56.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082897663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:56.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082897663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:57.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082898680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:57.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082898680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:14:57.655 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213242827, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213240505, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:57.655 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:14:57.655 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:14:57.691 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=236.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93562548, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93562542, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:57.692 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:14:57.692 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:14:57.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082918780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:57.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082918780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:14:57.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082893985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:57.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082893985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:14:58.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082898285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:14:58.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082898285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:14:58.928 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.48, rainFlag=0, windAngle=346.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201981968, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201981962, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:58.928 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:14:58.928 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:14:59.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:59.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:14:59.084 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88641946, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.79}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88641940, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:59.084 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:14:59.084 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:14:59.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082900049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:59.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082900049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:14:59.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082899653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:59.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082899653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:14:59.567 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121878897, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121878892, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:59.567 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:14:59.567 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:14:59.674 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082900395, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:59.674 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082900395","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:59.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97064503, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97064499, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:14:59.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:14:59.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:14:59.788 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082900426, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:59.788 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082900426","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:59.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082900670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:14:59.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082900670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:14:59.958 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:14:59.958 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:00.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:00.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:00.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082901677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:00.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082901677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:00.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082921784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:00.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082921784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:00.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082896984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:00.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082896984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:01.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:01.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:01.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:01.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:01.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21268952, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:01.301 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.24, rainFlag=0, windAngle=104.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.8, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:15:01.302 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:15:01.302 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:15:01.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082901293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:01.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082901293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:01.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86561441, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86561438, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:01.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:01.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:01.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114100198, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114100192, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:01.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:01.646 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:01.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335972534, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335972531, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:01.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:01.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:02.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082903044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:02.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082903044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:02.330 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=326.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:15:02.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:15:02.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:15:02.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082902651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:02.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082902651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:02.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:02.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:02.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082903663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:02.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082903663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:02.986 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.37, rainFlag=0, windAngle=246.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93567849, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93567844, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:02.986 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:02.986 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:03.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.55, rainFlag=1, windAngle=121.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:15:03.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:15:03.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:15:03.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082904672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:03.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082904672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:03.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082924781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:03.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082924781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:03.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082899993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:03.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082899993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:04.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082904289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:04.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082904289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:04.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88647245, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88647240, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:04.379 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:04.379 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:04.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:04.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:04.860 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121884189, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121884184, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:04.861 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:04.861 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:05.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97069798, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97069793, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:05.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:05.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:05.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.48, rainFlag=0, windAngle=340.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201988079, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201988076, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:05.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:05.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:05.054 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082904502, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:05.054 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082904502","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:05.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082906043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:05.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082906043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:05.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213248116, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:05.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082905649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:05.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082905649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:05.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082906676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:05.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082906676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:05.850 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:05.850 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:06.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:06.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:06.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082907678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:06.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082907678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:06.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082927787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:06.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082927787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:06.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:06.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:06.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082902983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:06.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082902983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:06.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86566755, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86566728, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:06.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:06.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:06.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114105489, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114105484, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:06.946 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:06.946 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:07.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335977824, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335977821, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:07.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:07.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:07.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082907284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:07.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082907284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:08.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082909046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:08.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082909046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:08.279 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.64, rainFlag=0, windAngle=249.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93573140, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93573135, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:08.279 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:08.279 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:08.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082908652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:08.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082908652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:08.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21276606, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:08.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082909670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:08.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082909670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:09.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:09.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:09.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082910680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:09.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082910680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:09.681 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88652547, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88652541, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:09.681 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:09.681 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:09.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082930784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:09.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082930784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:09.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082905983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:09.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082905983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:10.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:10.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:10.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121889478, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121889474, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:10.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:10.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:10.304 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:10.304 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:10.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97075090, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97075084, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:10.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:10.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:10.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.38, rainFlag=0, windAngle=328.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201993372, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201993369, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:10.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:10.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:10.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082910280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:10.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082910280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:11.075 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.44, rainFlag=0, windAngle=92.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.8, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:15:11.075 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:15:11.075 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:15:11.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082912041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:11.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082912041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:11.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:11.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:11.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:11.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:11.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082911641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:11.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082911641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:11.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082912675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:11.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082912675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:12.212 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=327.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.26, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:15:12.212 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:15:12.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:15:12.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86572056, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86572052, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:12.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:12.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:12.260 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114110789, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114110785, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:12.260 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:12.260 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:12.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335983105, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335983102, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:12.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:12.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:12.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082913681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:12.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082913681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:12.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082933786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:12.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082933786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:12.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:12.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:12.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213255751, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:12.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082908990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:12.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082908990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:13.063 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082912027, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:15:13.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082912027","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:15:13.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=1.29, rainFlag=1, windAngle=203.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.35, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.50, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:15:13.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:15:13.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:15:13.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082913290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:13.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082913290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:13.561 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.37, rainFlag=0, windAngle=277.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93578427, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93578424, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:13.562 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:13.562 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:13.983 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:15:14.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082915038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:14.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082915038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:14.336 [scheduling-1] INFO c.r.d.s.i.SynService - [updateDevicesScheduled,194] - ========== 开始执行定时任务：同步基础表数据 ========== +13:15:14.339 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,132] - 成功加载 1 个网关设备，共扫描 10 个设备，跳过 0 个空页 +13:15:14.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082914644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:14.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082914644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:14.640 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,135] - 没有找到更多网关设备，共扫描 25 个设备，跳过 3 个空页 +13:15:14.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:14.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:14.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082915675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:14.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082915675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:14.979 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88657847, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88657842, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:14.979 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:14.979 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:15.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121894773, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121894766, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:15.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:15.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:15.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082916676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:15.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082916676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:15.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97080391, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97080385, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:15.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:15.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:15.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.85, rainFlag=0, windAngle=335.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=201998667, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=201998661, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:15.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:15.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:15.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082936779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:15.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082936779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:15.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082911988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:15.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082911988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:15.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:15.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:16.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:16.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:16.349 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21286507, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21284176, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:16.349 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:15:16.349 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:15:16.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082916280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:16.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082916280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:16.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:16.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:17.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082918051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:17.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082918051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:17.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86577344, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86577342, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:17.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:17.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:17.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082917643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:17.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082917643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:17.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114116082, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114116076, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:17.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:17.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:17.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335988396, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335988392, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:17.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:17.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:17.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082918674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:17.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082918674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:18.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082919673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:18.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082919673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:18.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082939775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:18.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082939775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:18.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.46, rainFlag=0, windAngle=271.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93583712, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93583706, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:18.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:18.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:18.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082914992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:18.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082914992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:19.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:19.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:19.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082919288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:19.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082919288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:20.006 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082921007, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.55, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:15:20.006 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082921007","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.55","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:15:20.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:20.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:20.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082921042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:20.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082921042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:20.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88663138, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88663133, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:20.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:20.272 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:20.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:20.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:20.439 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213265666, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213263387, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:20.439 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:15:20.439 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:15:20.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082920643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:20.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082920643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:20.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121900073, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121900068, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:20.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:20.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:20.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082921672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:20.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082921672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:20.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97085705, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97085699, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:20.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:20.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:20.936 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=333.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202003966, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202003961, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:20.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:20.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:21.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.25, rainFlag=0, windAngle=112.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.7, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:15:21.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:15:21.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:15:21.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:21.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:21.283 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:21.284 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:21.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082922670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:21.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082922670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:21.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082942773, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:21.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082942773","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:21.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082917989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:21.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082917989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:22.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=328.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:15:22.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:15:22.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:15:22.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082922289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:22.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082922289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:22.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86582629, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86582624, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:22.767 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:22.767 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:22.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114121383, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114121378, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:22.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:22.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:22.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:22.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:23.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335993687, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335993683, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:23.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:23.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:23.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082924049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:23.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082924049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:23.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=3.00, windSpeed=1.20, rainFlag=1, windAngle=175.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.50, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:15:23.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:15:23.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:15:23.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082923649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:23.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082923649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:23.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082924670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:23.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082924670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:23.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21294120, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21291788, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:23.962 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:15:23.962 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:15:24.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.00, rainFlag=0, windAngle=224.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93588997, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93588994, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:24.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:24.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:24.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082925667, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:24.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082925667","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:24.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082945779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:24.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082945779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:24.859 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:24.860 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:24.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082920994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:24.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082920994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:25.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082925285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:25.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082925285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:25.562 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88668429, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88668424, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:25.562 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:25.562 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:25.985 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:25.985 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:26.043 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121905364, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121905359, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:26.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:26.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:26.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082927045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:26.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082927045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:26.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97091007, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97091001, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:26.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:26.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:26.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=335.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202009269, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202009263, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:26.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:26.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:26.275 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:26.275 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:26.336 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082926342, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:26.336 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082926342","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:26.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082926656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:26.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082926656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:26.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082927662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:26.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082927662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:26.996 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:26.996 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:27.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082928681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:27.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082928681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:27.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082948788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:27.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082948788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:27.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082923994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:27.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082923994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:28.067 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86587928, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86587925, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:28.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:28.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:28.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213273279, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213270961, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:28.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:15:28.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:15:28.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114126680, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114126677, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:28.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:28.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:28.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=335998977, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=335998974, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:28.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:28.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:28.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082928293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:28.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082928293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:29.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082930043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:29.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082930043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:29.283 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:29.284 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:29.428 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=230.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93594288, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93594285, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:29.428 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:29.428 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:29.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082929648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:29.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082929648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:29.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082930665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:29.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082930665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:30.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:30.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:30.430 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:30.430 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:30.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082931674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:30.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082931674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:30.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082951780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:30.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082951780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:30.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88673732, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88673726, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:30.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:30.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:30.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082926989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:30.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082926989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:31.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.83, rainFlag=0, windAngle=112.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.7, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.70}}} +13:15:31.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:15:31.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:15:31.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082932030, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:31.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082932030","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:31.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082931288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:31.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082931288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:31.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:31.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:31.432 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121910752, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121910706, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:31.432 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:31.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:31.439 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082932077, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:31.439 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082932077","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:31.511 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97096298, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97096295, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:31.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:31.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:31.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.57, rainFlag=0, windAngle=323.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202014561, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202014555, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:31.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:31.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:31.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:31.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:31.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21301732, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21299411, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:31.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:15:31.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:15:32.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082933041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:32.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082933041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:32.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=328.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=14.90, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:15:32.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:15:32.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:15:32.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082932650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:32.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082932650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:32.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082933662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:32.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082933662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:32.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:32.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:33.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=3.00, windSpeed=1.01, rainFlag=1, windAngle=157.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:15:33.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:15:33.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:15:33.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86593218, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86593215, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:33.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:33.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:33.408 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114131963, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114131958, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:33.408 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:33.408 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:33.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082934670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:33.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082934670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:33.656 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336004269, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336004265, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:33.656 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:33.656 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:33.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082954782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:33.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082954782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:33.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082929994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:33.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082929994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:34.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082934280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:34.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082934280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:34.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=253.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93599590, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93599586, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:34.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:34.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:34.928 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:34.929 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:35.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082936046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:35.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082936046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:35.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082935653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:35.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082935653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:35.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213280892, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213278564, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:35.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:15:35.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:15:35.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082936674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:35.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082936674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:36.054 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:36.054 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:36.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88679023, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88679017, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:36.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:36.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:36.340 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:36.340 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:36.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082937666, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:36.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082937666","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:36.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082957786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:36.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082957786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:36.773 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121916066, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121916061, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:36.773 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:36.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:36.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082936260, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:36.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082936260","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:36.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.38, rainFlag=0, windAngle=328.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202019861, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202019856, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:36.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:36.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:36.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97101599, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.8}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97101594, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:36.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:36.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:36.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082932981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:36.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082932981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:37.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:37.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:37.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082937289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:37.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082937289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:38.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082939047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:38.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082939047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:38.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082938643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:38.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082938643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:38.647 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86598510, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86598507, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:38.647 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:38.647 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:38.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114137256, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114137251, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:38.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:38.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:38.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082939672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:38.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082939672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:38.956 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336009570, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336009567, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:38.956 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:38.956 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:39.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21309344, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21307066, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:39.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:15:39.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:15:39.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:39.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:39.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082940674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:39.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082940674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:39.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082960785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:39.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082960785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:39.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082935995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:39.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082935995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:40.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.09, rainFlag=0, windAngle=279.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93604873, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93604869, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:40.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:40.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:40.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:40.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:40.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082940283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:40.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082940283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:40.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:40.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:41.097 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.83, rainFlag=0, windAngle=95.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.23, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.7, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:15:41.097 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:15:41.097 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:15:41.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082942038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:41.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082942038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:41.432 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:41.432 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:41.457 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88684324, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88684319, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:41.457 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:41.457 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:41.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082941651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:41.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082941651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:41.692 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:41.692 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:41.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082942664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:41.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082942664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:42.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121921369, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121921363, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:42.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:42.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:42.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97106901, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97106895, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:42.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:42.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:42.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.01, rainFlag=0, windAngle=341.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202025152, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202025148, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:42.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:42.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:42.219 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.68, rainFlag=1, windAngle=344.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:15:42.219 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:15:42.219 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:15:42.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082943666, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:42.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082943666","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:42.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082963784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:42.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082963784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:42.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082938981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:42.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082938981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:43.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.83, rainFlag=1, windAngle=0.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.35, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:15:43.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:15:43.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:15:43.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:43.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:43.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213288505, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213286176, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:43.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:15:43.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:15:43.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082943278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:43.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082943278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:43.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86603800, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86603797, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:43.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:43.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:43.995 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114142548, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114142542, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:43.995 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:43.996 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:44.154 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082945052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:44.154 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082945052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:44.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336014861, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336014858, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:44.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:44.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:44.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082944646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:44.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082944646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:44.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082945671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:44.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082945671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:44.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082943860, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:15:44.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082943860","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:15:44.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:44.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:45.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.18, rainFlag=0, windAngle=257.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93610166, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93610161, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:45.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:45.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:45.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082946674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:45.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082946674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:45.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082966787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:45.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082966787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:45.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082941992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:45.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082941992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:46.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:46.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:46.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082946287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:46.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082946287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:46.402 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:46.402 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:46.749 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88689616, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88689611, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:46.749 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:46.749 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:46.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21314635, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:47.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:47.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:47.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082948038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:47.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082948038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:47.330 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121926660, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121926654, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:47.330 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:47.330 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:47.412 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.66, rainFlag=0, windAngle=312.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202030450, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202030446, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:47.412 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:47.412 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:47.422 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97112204, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97112198, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:47.422 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:47.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:47.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082947656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:47.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082947656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:47.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082948674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:47.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082948674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:48.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082949671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:48.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082949671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:48.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082969788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:48.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082969788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:48.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082944983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:48.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082944983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:49.227 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86609091, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86609087, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:49.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:49.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:49.284 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114147834, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114147831, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:49.285 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:49.285 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:49.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082949283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:49.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082949283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:49.405 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:49.405 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:49.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336020152, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336020149, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:49.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:49.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:50.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082951093, roll=0, lon=0, battery=0.9, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.58, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:15:50.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.9","date":"1772082951093","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.58","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:15:50.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082951050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:50.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082951050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:50.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:50.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:15:50.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082950651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:50.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082950651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:50.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:50.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:15:50.608 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=259.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93615465, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93615461, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:50.608 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:50.609 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:50.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082951676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:50.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082951676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:50.893 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213293855, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:51.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.05, rainFlag=0, windAngle=110.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.7, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:15:51.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:15:51.168 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:15:51.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:51.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:15:51.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082952671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:51.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082952671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:51.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082972775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:51.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082972775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:51.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:51.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:15:51.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082947988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:51.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082947988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:52.047 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88694906, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88694901, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:52.048 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:52.048 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:52.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.09, rainFlag=1, windAngle=328.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:15:52.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:15:52.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:15:52.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082952289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:52.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082952289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:52.677 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121931950, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121931945, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:52.677 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:52.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:52.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97117502, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97117499, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:52.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:52.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:52.731 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.11, rainFlag=0, windAngle=295.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202035772, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202035739, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:52.731 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:52.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:53.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082954052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:53.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082954052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:53.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.74, rainFlag=1, windAngle=216.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:15:53.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:15:53.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:15:53.394 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:53.394 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:15:53.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082953646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:53.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082953646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:53.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082954675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:53.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082954675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:54.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21322258, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:54.517 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86614382, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86614379, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:54.517 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:54.517 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:54.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114153140, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114153135, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:54.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:54.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:15:54.607 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082955680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:54.607 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082955680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:54.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082975775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:54.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082975775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:54.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336025443, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336025440, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:54.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:15:54.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:15:54.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082950995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:54.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082950995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:55.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:55.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:15:55.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082955281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:55.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082955281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:55.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=269.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93620771, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93620765, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:55.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:15:55.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:15:56.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082957042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:56.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082957042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:56.192 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:56.193 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:15:56.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:56.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:15:56.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082956656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:56.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082956656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:56.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082957662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:56.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082957662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:57.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:57.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:15:57.332 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88700198, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88700192, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:57.332 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:15:57.332 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:15:57.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082958673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:57.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082958673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:15:57.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082978779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:57.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082978779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:15:57.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082953995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:57.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082953995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:15:57.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121937252, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121937247, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:57.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:15:57.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:15:57.998 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082958007, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:57.998 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082958007","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:58.008 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97122795, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97122790, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:58.008 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:15:58.008 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:15:58.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.83, rainFlag=0, windAngle=306.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202041058, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202041053, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:58.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:15:58.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:15:58.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082958282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:15:58.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082958282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:15:58.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213301412, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:59.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082960038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:59.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082960038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:15:59.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:59.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:15:59.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082959642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:59.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082959642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:15:59.795 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86619663, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86619659, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:59.796 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:15:59.796 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:15:59.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082960675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:15:59.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082960675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:15:59.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114158431, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114158425, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:15:59.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:15:59.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:00.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336030755, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336030731, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:00.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:00.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:00.318 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:00.318 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:00.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082961673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:00.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082961673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:00.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:00.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:00.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082981775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:00.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082981775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:00.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082956990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:00.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082956990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:01.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.48, rainFlag=0, windAngle=111.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.6, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:16:01.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:16:01.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:16:01.197 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.09, rainFlag=0, windAngle=242.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93626061, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93626055, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:01.197 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:01.197 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:01.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082961280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:01.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082961280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:01.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:01.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:02.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:02.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:02.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21332199, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21329879, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:02.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:16:02.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:16:02.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082963043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:02.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082963043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:02.162 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=344.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.26, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:16:02.162 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:16:02.162 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:16:02.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082962644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:02.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082962644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:02.620 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88705488, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88705483, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:02.620 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:02.620 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:02.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082963661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:02.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082963661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:02.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082963636, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:02.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082963636","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:03.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082963772, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:03.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082963772","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:03.232 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121942554, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121942548, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:03.232 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:03.232 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:03.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.46, rainFlag=1, windAngle=172.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.35, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:16:03.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:16:03.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:16:03.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97128098, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97128092, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:03.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:03.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:03.322 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.92, rainFlag=0, windAngle=317.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202046361, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202046356, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:03.322 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:03.322 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:03.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:03.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:03.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082964678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:03.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082964678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:03.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082984782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:03.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082984782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:03.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082959992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:03.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082959992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:04.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082964279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:04.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082964279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:05.078 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86624942, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86624938, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:05.078 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:05.078 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:05.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:05.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:05.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082966048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:05.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082966048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:05.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114163764, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114163738, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:05.217 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:05.217 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:05.425 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336036047, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336036044, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:05.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:05.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:05.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082965651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:05.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082965651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:05.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082966665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:05.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082966665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:06.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213311344, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213309035, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:06.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:16:06.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:16:06.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:06.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:06.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:06.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:06.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.18, rainFlag=0, windAngle=259.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93631401, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93631397, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:06.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:06.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:06.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082967674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:06.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082967674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:06.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082987786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:06.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082987786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:06.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082962989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:06.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082962989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:07.262 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:07.262 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:07.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082967290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:07.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082967290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:07.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88710775, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88710771, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:07.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:07.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:08.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082969047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:08.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082969047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:08.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082968654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:08.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082968654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:08.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97133389, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97133383, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:08.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:08.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:08.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.01, rainFlag=0, windAngle=295.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202051650, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202051645, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:08.613 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:08.613 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:08.632 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121947851, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121947848, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:08.632 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:08.632 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:08.751 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082968022, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:08.751 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082968022","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:08.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082969672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:08.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082969672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:09.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:09.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:09.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082970678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:09.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082970678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:09.650 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21339810, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21337538, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:09.651 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:16:09.651 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:16:09.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082990785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:09.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082990785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:09.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082965995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:09.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082965995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:10.353 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86630221, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86630217, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:10.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:10.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:10.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082970280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:10.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082970280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:10.380 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:10.380 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:10.515 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114169067, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114169061, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:10.515 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:10.515 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:10.690 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:10.690 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:10.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336041335, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336041333, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:10.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:10.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:11.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.33, rainFlag=0, windAngle=103.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.6, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:16:11.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:16:11.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:16:11.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082972040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:11.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082972040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:11.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082971648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:11.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082971648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:11.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:11.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:11.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082972663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:11.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082972663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:11.828 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.37, rainFlag=0, windAngle=253.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93636685, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93636681, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:11.829 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:11.829 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:12.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=338.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:16:12.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:16:12.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:16:12.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:12.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:12.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082973673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:12.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082973673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:12.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082993787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:12.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082993787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:12.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082968994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:12.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082968994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:13.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.09, rainFlag=1, windAngle=11.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.35, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:16:13.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:16:13.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:16:13.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88716071, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88716065, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:13.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:13.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:13.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082973288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:13.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082973288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:13.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:13.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:13.795 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213318958, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213316646, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:13.795 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:16:13.795 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:16:13.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121953158, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121953152, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:13.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:13.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:13.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97138689, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97138684, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:13.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:13.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:13.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.92, rainFlag=0, windAngle=352.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202056942, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202056936, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:13.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:13.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:14.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082975046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:14.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082975046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:14.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082974641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:14.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082974641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:14.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082975677, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:14.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082975677","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:15.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:15.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:15.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082976667, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:15.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082976667","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:15.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86635501, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86635498, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:15.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:15.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:15.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082996787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:15.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082996787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:15.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114174373, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114174368, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:15.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:15.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:15.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082971983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:15.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082971983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:16.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:16.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:16.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082976284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:16.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082976284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:16.391 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336047014, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336047010, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:16.391 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:16.391 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:16.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:16.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:16.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082975683, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:16:16.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772082975683","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:16:17.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.09, rainFlag=0, windAngle=258.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93641975, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93641971, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:17.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:17.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:17.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082978044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:17.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082978044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:17.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21347423, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21345103, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:17.265 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:16:17.265 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:16:17.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:17.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:17.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082977656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:17.549 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082977656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:17.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082978666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:17.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082978666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:18.493 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88721361, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88721355, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:18.493 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:18.494 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:18.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082979679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:18.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082979679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:18.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082999777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:18.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772082999777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:18.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082974987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:18.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082974987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:19.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121958457, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121958453, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:19.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:19.129 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:19.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.11, rainFlag=0, windAngle=324.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202062242, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202062237, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:19.207 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:19.207 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:19.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97144001, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97143996, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:19.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:19.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:19.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082979280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:19.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082979280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:19.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:19.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:20.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082981176, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:16:20.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772082981176","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:16:20.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082981054, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:20.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082981054","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:20.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:20.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:20.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082980645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:20.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082980645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:20.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082981676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:20.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082981676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:20.956 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:20.956 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:20.974 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86640830, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86640827, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:20.974 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:20.974 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:21.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.79, rainFlag=0, windAngle=97.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.5, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:16:21.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:16:21.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:16:21.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114179666, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114179663, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:21.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:21.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:21.343 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213326570, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213324291, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:21.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:16:21.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:16:21.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082982668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:21.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082982668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:21.690 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336052304, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336052301, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:21.690 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:21.690 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:21.696 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:21.696 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:21.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083002783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:21.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083002783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:21.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082977996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:21.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082977996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:22.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=335.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:16:22.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:16:22.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:16:22.212 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:22.212 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:22.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082982287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:22.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082982287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:22.419 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=253.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93647279, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93647274, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:22.419 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:22.419 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:23.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082984049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:23.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082984049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:23.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.37, rainFlag=1, windAngle=20.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.50, cell_1Voltage=4.36, cell_2Voltage=4.34, cell_3Voltage=4.36, totalVoltage=26.15, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:16:23.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:16:23.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:16:23.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082983646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:23.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082983646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:23.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88726664, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88726658, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:23.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:23.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:23.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082984675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:23.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082984675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:23.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:23.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:24.482 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.20, rainFlag=0, windAngle=329.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202067521, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202067516, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:24.482 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:24.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:24.499 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97149287, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97149285, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:24.500 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:24.500 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:24.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121963754, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121963745, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:24.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:24.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:24.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082985681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:24.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082985681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:24.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083005782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:24.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083005782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:24.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21355035, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21352704, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:24.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:16:24.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:16:24.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082980989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:24.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082980989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:25.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:25.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:25.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082985280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:25.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082985280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:26.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082987053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:26.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082987053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:26.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86646106, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86646102, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:26.248 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:26.248 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:26.444 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:26.444 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:26.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114185009, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114185002, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:26.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:26.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:26.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082986656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:26.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082986656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:26.658 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:26.659 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:26.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082987663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:26.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082987663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:26.966 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336057584, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336057581, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:26.966 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:26.966 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:27.383 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:27.383 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:27.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082988679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:27.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082988679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:27.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083008780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:27.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083008780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:27.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.09, rainFlag=0, windAngle=271.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93652581, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93652576, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:27.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:27.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:27.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082983995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:27.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082983995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:28.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082988290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:28.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082988290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:28.970 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213334183, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213331872, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:28.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:16:28.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:16:29.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88731964, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88731959, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:29.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:29.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:29.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082990051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:29.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082990051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:29.338 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:16:29.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082989647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:29.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082989647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:29.656 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:29.656 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:29.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082989728, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:29.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082989728","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:29.733 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121969052, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121969046, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:29.734 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:29.734 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:29.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.11, rainFlag=0, windAngle=311.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202072824, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202072819, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:29.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:29.793 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:29.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082990669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:29.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082990669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:30.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082991676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:30.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082991676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:30.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083011778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:30.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083011778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:30.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:30.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:30.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97155624, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97155617, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:30.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:30.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:30.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082986987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:30.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082986987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:31.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:31.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:31.270 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.18, rainFlag=0, windAngle=111.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.23, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:16:31.270 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:16:31.270 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:16:31.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082991284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:31.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082991284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:31.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86651397, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86651393, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:31.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:31.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:31.760 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:31.760 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:31.765 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114190308, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114190302, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:31.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:31.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:32.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082993050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:32.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082993050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:32.187 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=324.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:16:32.187 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:16:32.187 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:16:32.255 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336062875, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336062872, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:32.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:32.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:32.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082992642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:32.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082992642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:32.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:32.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:32.557 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21360327, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:32.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082993675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:32.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082993675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:33.007 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.55, rainFlag=0, windAngle=242.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93657871, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93657867, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:33.007 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:33.007 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:33.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.83, rainFlag=1, windAngle=339.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.35, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:16:33.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:16:33.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:16:33.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082994673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:33.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082994673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:33.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083014775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:33.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083014775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:33.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:33.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:33.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082989989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:33.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082989989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:34.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082994285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:34.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082994285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:34.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88737255, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88737250, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:34.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:34.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:34.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082995242, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:34.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082995242","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:34.769 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082995407, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:34.769 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082995407","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:35.032 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121974354, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121974349, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:35.032 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:35.032 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:35.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.66, rainFlag=0, windAngle=323.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202078127, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202078121, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:35.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:35.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:35.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082996045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:35.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082996045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:35.280 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:35.280 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:35.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082995650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:35.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082995650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:35.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082996661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:35.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082996661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:36.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97160931, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97160926, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:36.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:36.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:36.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:36.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:36.571 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213339481, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:36.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082997669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:36.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772082997669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:36.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083017776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:36.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083017776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:36.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:36.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:36.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86656687, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86656683, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:36.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:36.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:36.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082992994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:36.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082992994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:37.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114195610, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114195604, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:37.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:37.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:37.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082997280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:37.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772082997280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:37.450 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:37.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:38.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082999047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:38.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772082999047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:38.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.27, rainFlag=0, windAngle=242.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93663163, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93663158, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:38.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:38.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:38.470 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336069092, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336069087, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:38.470 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:38.470 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:38.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082998652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:38.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772082998652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:38.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082999668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:38.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082999668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:39.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083000673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:39.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083000673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:39.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083020787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:39.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083020787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:39.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:39.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:39.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88742599, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88742593, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:39.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:39.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:39.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082995991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:39.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082995991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:40.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21367982, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:40.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121979651, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121979648, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:40.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:40.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:40.349 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082999782, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:40.349 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082999782","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:40.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083000285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:40.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083000285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:40.391 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.03, rainFlag=0, windAngle=320.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202083426, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202083422, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:40.391 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:40.392 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:40.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:40.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:41.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.22, rainFlag=0, windAngle=108.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:16:41.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:16:41.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:16:41.086 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:41.086 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:41.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083002048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:41.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083002048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:41.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97166233, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97166228, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:41.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:41.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:41.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083001651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:41.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083001651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:41.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083002666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:41.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083002666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:41.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:41.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:42.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86661977, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86661974, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:42.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:42.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:42.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=312.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:16:42.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:16:42.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:16:42.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114200901, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114200895, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:42.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:42.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:42.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083003669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:42.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083003669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:42.609 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:42.609 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:42.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083023787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:42.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083023787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:42.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772082998991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:42.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772082998991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:43.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.64, rainFlag=1, windAngle=343.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:16:43.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:16:43.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:16:43.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083003286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:43.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083003286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:43.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.18, rainFlag=0, windAngle=293.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93668460, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93668457, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:43.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:43.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:43.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336074381, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336074377, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:43.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:43.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:44.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083005044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:44.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083005044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:44.229 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:44.229 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:44.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213347093, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:44.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083004643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:44.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083004643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:44.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083005674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:44.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083005674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:45.025 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88747892, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88747886, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:45.026 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:45.026 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:45.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:45.332 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:45.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083006672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:45.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083006672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:45.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121984937, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121984931, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:45.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:45.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:45.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083026782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:45.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083026782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:45.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.66, rainFlag=0, windAngle=312.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202088754, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202088711, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:45.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:45.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:45.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083001983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:45.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083001983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:46.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083006286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:46.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083006286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:46.569 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:46.569 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:46.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97171524, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97171519, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:46.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:46.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:46.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:46.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:47.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083008037, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:47.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083008037","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:47.414 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86667280, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86667278, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:47.414 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:47.414 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:47.520 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:47.521 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:47.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083007654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:47.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083007654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:47.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114206213, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114206207, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:47.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:47.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:47.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21377883, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21375539, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:47.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:16:47.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:16:47.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083008674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:47.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083008674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:48.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083007486, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:16:48.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083007486","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:16:48.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083009668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:48.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083009668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:48.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083029780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:48.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083029780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:48.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=301.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93673746, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93673740, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:48.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:48.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:48.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083004990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:48.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083004990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:49.048 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336079672, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336079668, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:49.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:49.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:49.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083009289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:49.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083009289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:49.789 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:49.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:50.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083011049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:50.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083011049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:50.249 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083011252, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.55, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:16:50.250 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083011252","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.55","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:16:50.314 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88753183, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88753178, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:50.314 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:50.314 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:50.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083010647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:50.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083010647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:50.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083011664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:50.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083011664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:50.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121990238, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121990232, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:50.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:50.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:50.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:50.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:16:51.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=329.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202094073, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202094070, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:51.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:51.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:51.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.46, rainFlag=0, windAngle=115.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:16:51.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:16:51.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:16:51.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:51.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:16:51.596 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083012679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:51.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083012679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:51.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083032784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:51.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083032784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:51.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213357022, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213354739, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:51.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:16:51.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:16:51.887 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:51.887 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:16:51.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083007988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:51.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083007988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:52.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97176837, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97176831, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:52.051 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:52.051 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:52.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=348.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:16:52.129 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:16:52.129 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:16:52.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083012285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:52.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083012285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:52.676 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:52.676 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:16:52.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86672569, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86672566, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:52.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:52.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:52.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114211515, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114211510, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:52.965 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:52.965 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:53.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083014042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:53.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083014042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:53.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=1.48, rainFlag=1, windAngle=182.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:16:53.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:16:53.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:16:53.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083013655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:53.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083013655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:53.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083014676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:53.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083014676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:54.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=283.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93679059, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93679053, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:54.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:54.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:54.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:54.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:16:54.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336084963, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336084959, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:54.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:54.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:54.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083015673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:54.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083015673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:54.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083035789, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:54.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083035789","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:54.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083010981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:54.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083010981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:55.335 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21385495, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21383163, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:55.335 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:16:55.336 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:16:55.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083015288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:55.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083015288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:55.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:55.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:16:55.614 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88758482, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88758477, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:55.615 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:16:55.615 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:16:56.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083017053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:56.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083017053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:56.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=121995528, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=121995522, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:56.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:16:56.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:16:56.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.03, rainFlag=0, windAngle=337.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202099367, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202099362, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:56.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:16:56.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:16:56.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083016654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:56.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083016654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:56.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:56.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:16:56.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083017674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:56.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083017674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:56.860 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:56.860 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:16:57.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97182139, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97182133, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:57.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:16:57.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:16:57.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083018677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:57.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083018677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:16:57.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:57.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:16:57.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083038779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:57.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083038779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:16:57.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083013991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:57.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083013991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:16:57.997 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86677862, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86677858, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:57.997 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:16:57.997 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:16:58.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114216813, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114216809, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:58.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:16:58.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:16:58.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083018278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:16:58.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083018278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:16:59.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083020046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:59.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083020046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:16:59.420 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213364635, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213362304, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:59.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:16:59.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:16:59.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=311.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93684349, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93684344, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:59.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:16:59.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:16:59.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083019643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:59.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083019643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:16:59.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336090254, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336090250, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:16:59.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:16:59.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:16:59.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083020671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:16:59.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083020671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:16:59.859 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:16:59.859 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:00.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083021674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:00.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083021674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:00.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083041785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:00.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083041785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:00.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88763774, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88763769, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:00.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:00.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:00.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083016991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:00.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083016991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:01.034 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:01.034 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:01.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:01.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:01.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.70, rainFlag=0, windAngle=101.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:17:01.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:17:01.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:17:01.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083021290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:01.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083021290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:01.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083021429, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:01.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083021429","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:01.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122000826, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122000824, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:01.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:01.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:01.624 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=342.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202104659, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202104653, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:01.625 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:01.625 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:01.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:01.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:02.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083023045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:02.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083023045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:02.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.09, rainFlag=1, windAngle=328.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=14.90, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:17:02.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:17:02.308 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:17:02.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083022650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:02.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083022650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:02.671 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97187452, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97187446, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:02.671 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:02.671 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:02.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083023661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:02.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083023661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:02.999 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:02.999 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:03.017 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21393108, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21390775, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:03.017 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:17:03.017 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:17:03.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.29, rainFlag=1, windAngle=32.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.4}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:17:03.248 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:17:03.248 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:17:03.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86683152, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86683148, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:03.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:03.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:03.546 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114222096, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114222091, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:03.546 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:03.546 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:03.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083024672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:03.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083024672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:03.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083044785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:03.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083044785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:03.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083019987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:03.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083019987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:04.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083024281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:04.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083024281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:04.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:04.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:04.788 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.09, rainFlag=0, windAngle=303.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93689651, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93689645, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:04.789 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:04.789 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:04.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336095545, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336095541, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:04.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:04.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:05.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083026045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:05.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083026045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:05.450 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:05.450 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:05.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083025651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:05.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083025651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:05.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083026664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:05.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083026664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:06.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083026834, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:06.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083026834","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:06.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88769069, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88769062, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:06.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:06.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:06.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083027004, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:06.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083027004","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:06.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083027681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:06.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083027681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:06.699 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:06.699 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:06.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083047774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:06.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083047774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:06.777 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122006108, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122006104, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:06.777 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:06.777 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:06.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083022986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:06.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083022986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:06.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:06.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:06.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.94, rainFlag=0, windAngle=3.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202109971, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202109966, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:06.933 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:06.933 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:07.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213372248, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213369926, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:07.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:17:07.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:17:07.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083027277, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:07.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083027277","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:07.663 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:07.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:07.982 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97192760, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97192756, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:07.982 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:07.982 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:08.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083029041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:08.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083029041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:08.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083028649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:08.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083028649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:08.564 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86688432, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86688428, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:08.565 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:08.565 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:08.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083029673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:08.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083029673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:08.847 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114227391, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114227385, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:08.847 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:08.847 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:09.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083030674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:09.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083030674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:09.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083050782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:09.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083050782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:09.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083025987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:09.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083025987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:09.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:09.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:10.099 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.09, rainFlag=0, windAngle=272.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93694953, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93694948, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:10.099 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:10.099 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:10.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336100836, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336100832, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:10.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:10.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:10.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083030288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:10.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083030288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:10.564 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21400721, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.0, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21398441, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:10.564 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:17:10.564 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:17:11.077 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.61, rainFlag=0, windAngle=110.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.31, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:17:11.077 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:17:11.077 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:17:11.102 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:11.102 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:11.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083032044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:11.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083032044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:11.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:11.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:11.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88774358, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88774352, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:11.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:11.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:11.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083031646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:11.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083031646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:11.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083032662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:11.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083032662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:12.100 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083031547, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:12.100 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083031547","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:12.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:12.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:12.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122011445, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122011442, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:12.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:12.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:12.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.09, rainFlag=1, windAngle=332.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.28, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:17:12.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:17:12.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:17:12.282 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.48, rainFlag=0, windAngle=16.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202115275, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202115268, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:12.282 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:12.282 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:12.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083033680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:12.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083033680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:12.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083053775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:12.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083053775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:12.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083028995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:12.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083028995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:13.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:13.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:13.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.01, rainFlag=1, windAngle=17.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.35, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.4}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:17:13.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:17:13.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:17:13.283 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97198067, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97198061, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:13.284 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:13.284 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:13.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083033282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:13.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083033282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:13.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86693756, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86693719, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:13.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:13.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:14.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083035041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:14.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083035041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:14.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114232698, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114232693, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:14.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:14.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:14.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083034643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:14.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083034643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:14.645 [scheduling-1] INFO c.r.d.s.i.SynService - [updateDevicesScheduled,194] - ========== 开始执行定时任务：同步基础表数据 ========== +13:17:14.649 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,132] - 成功加载 1 个网关设备，共扫描 10 个设备，跳过 0 个空页 +13:17:14.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:14.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:14.696 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213379861, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213377529, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:14.696 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:17:14.696 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:17:14.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083035667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:14.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083035667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:14.965 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,135] - 没有找到更多网关设备，共扫描 25 个设备，跳过 3 个空页 +13:17:15.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.46, rainFlag=0, windAngle=267.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93700255, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93700250, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:15.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:15.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:15.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:15.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:15.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336106165, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336106162, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:15.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:15.553 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:15.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083036673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:15.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083036673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:15.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083056788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:15.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083056788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:15.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083031990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:15.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083031990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:16.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083036293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:16.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083036293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:16.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:16.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:16.781 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88779648, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88779642, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:16.781 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:16.781 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:16.988 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:16.989 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:17.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083038039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:17.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083038039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:17.439 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122016767, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122016730, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:17.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:17.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:17.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.68, rainFlag=0, windAngle=345.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202120560, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202120556, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:17.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:17.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:17.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083037644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:17.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083037644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:17.734 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:17.734 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:17.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083038675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:17.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083038675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:18.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.0, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21406010, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:18.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083039672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:18.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083039672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:18.603 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97203379, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97203374, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:18.603 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:18.603 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:18.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083059786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:18.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083059786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:18.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083034981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:18.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083034981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:19.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86699057, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86699054, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:19.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:19.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:19.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083039278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:19.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083039278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:19.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114237991, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.3}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114237985, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:19.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:19.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:19.993 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:19.994 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:20.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083041051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:20.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083041051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:20.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083041328, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:17:20.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083041328","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:17:20.348 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083039307, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:17:20.348 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083039307","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:17:20.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083040643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:20.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083040643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:20.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.55, rainFlag=0, windAngle=272.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93705554, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93705550, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:20.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:20.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:20.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083041662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:20.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083041662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:20.835 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336111450, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336111447, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:20.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:20.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:21.048 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.48, rainFlag=0, windAngle=114.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.24, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:17:21.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:17:21.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:17:21.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:21.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:21.332 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:21.332 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:21.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083042671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:21.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083042671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:21.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083062776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:21.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083062776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:21.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083037989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:21.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083037989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:22.082 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88784951, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88784945, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:22.082 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:22.083 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:22.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.27, rainFlag=1, windAngle=323.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:17:22.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:17:22.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:17:22.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:22.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:22.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213385197, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:22.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083042285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:22.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083042285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:22.747 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122022068, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122022063, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:22.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:22.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:22.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=7.00, windSpeed=3.33, rainFlag=0, windAngle=347.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202125864, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202125860, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:22.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:22.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:23.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=1.01, rainFlag=1, windAngle=190.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.02}}} +13:17:23.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:17:23.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:17:23.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:23.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:23.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083044047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:23.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083044047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:23.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083043650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:23.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083043650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:23.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083044663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:23.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083044663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:23.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97208679, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97208674, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:23.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:23.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:24.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86704348, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86704345, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:24.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:24.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:24.606 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083045682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:24.607 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083045682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:24.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083065787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:24.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083065787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:24.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114243279, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114243275, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:24.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:24.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:24.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:24.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:24.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083040997, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:24.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083040997","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:25.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083045283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:25.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083045283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:25.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:25.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:25.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.0, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21413613, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:25.981 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93710847, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93710842, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:25.981 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:25.981 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:26.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336116756, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336116748, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:26.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:26.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:26.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083047050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:26.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083047050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:26.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083046653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:26.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083046653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:26.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083047665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:26.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083047665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:26.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:26.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:27.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:27.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:27.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88790252, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88790246, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:27.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:27.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:27.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083048678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:27.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083048678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:27.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083068782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:27.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083068782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:27.800 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:27.800 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:27.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083043988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:27.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083043988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:28.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122027373, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122027367, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:28.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:28.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:28.131 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.68, rainFlag=0, windAngle=329.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202131165, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202131161, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:28.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:28.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:28.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083048293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:28.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083048293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:29.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083050045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:29.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083050045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:29.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97213982, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97213977, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:29.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:29.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:29.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083049650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:29.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083049650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:29.772 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86709639, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86709636, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:29.772 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:29.772 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:29.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083050668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:29.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083050668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:29.881 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213392776, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:30.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114248584, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114248579, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:30.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:30.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:30.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:30.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:30.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083051681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:30.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083051681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:30.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083071777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:30.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083071777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:30.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083046991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:30.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083046991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:31.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.00, rainFlag=0, windAngle=101.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:17:31.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:17:31.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:17:31.238 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:31.238 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:31.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93716134, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93716130, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:31.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:31.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:31.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083051281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:31.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083051281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:31.390 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:31.390 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:31.432 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336122054, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336122051, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:31.432 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:31.432 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:32.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.20, rainFlag=1, windAngle=318.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:17:32.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:17:32.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:17:32.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083053048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:32.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083053048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:32.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:32.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:32.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083052652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:32.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083052652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:32.675 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88795542, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88795536, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:32.675 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:32.675 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:32.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083053663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:32.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083053663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:33.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083053133, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:33.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083053133","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:33.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=1.20, rainFlag=1, windAngle=194.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:17:33.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:17:33.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:17:33.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122032658, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122032655, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:33.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:33.329 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:33.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=2.40, rainFlag=0, windAngle=8.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202136467, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202136463, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:33.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:33.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:33.450 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:33.450 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:33.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21423559, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.0, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21421233, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:33.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:17:33.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:17:33.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083054682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:33.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083054682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:33.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083074780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:33.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083074780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:33.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083049988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:33.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083049988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:34.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083054292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:34.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083054292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:34.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97219295, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97219290, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:34.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:34.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:34.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:34.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:35.057 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86714919, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86714916, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:35.058 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:35.058 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:35.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083056042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:35.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083056042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:35.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114253875, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114253870, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:35.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:35.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:35.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083055657, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:35.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083055657","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:35.668 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:35.668 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:35.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083056675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:35.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083056675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:36.571 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93721436, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93721433, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:36.571 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:36.571 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:36.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083057673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:36.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083057673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:36.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083077774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:36.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083077774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:36.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336127345, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336127342, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:36.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:36.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:36.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:36.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:36.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083052994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:36.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083052994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:37.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:37.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:37.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083057282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:37.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083057282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:37.472 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213402698, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213400388, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:37.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:17:37.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:17:37.765 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083058489, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:37.765 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083058489","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:37.862 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:37.862 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:37.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88800829, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88800826, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:37.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:37.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:37.997 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083058636, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:37.997 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083058636","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:38.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083059053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:38.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083059053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:38.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083058650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:38.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083058650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:38.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122037954, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122037950, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:38.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:38.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:38.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.85, rainFlag=0, windAngle=348.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202141768, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202141764, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:38.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:38.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:38.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083059676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:38.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083059676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:39.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083060673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:39.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083060673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:39.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083080788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:39.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083080788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:39.800 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97224587, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97224581, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:39.800 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:39.801 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:39.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083055989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:39.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083055989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:40.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:40.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:40.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86720199, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86720195, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:40.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:40.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:40.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083060288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:40.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083060288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:40.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114259166, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114259161, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:40.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:40.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:41.014 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21431172, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.0, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21428890, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:41.014 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:17:41.015 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:17:41.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.05, rainFlag=0, windAngle=106.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:17:41.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:17:41.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:17:41.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083062055, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:41.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083062055","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:41.298 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:41.298 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:41.461 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:41.462 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:41.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083061647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:41.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083061647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:41.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083062664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:41.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083062664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:41.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93726732, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93726726, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:41.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:41.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:42.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336132637, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336132633, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:42.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:42.023 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:42.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=340.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:17:42.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:17:42.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:17:42.319 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:42.319 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:42.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083063679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:42.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083063679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:42.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083083781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:42.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083083781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:42.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083058991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:42.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083058991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:43.100 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=3.00, windSpeed=1.94, rainFlag=1, windAngle=169.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:17:43.100 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:17:43.100 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:17:43.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88806135, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.7, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88806130, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:43.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:43.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:43.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083063288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:43.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083063288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:43.516 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:43.516 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:43.849 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083063295, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:43.849 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083063295","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:43.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122043256, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122043251, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:43.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:43.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:44.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.38, rainFlag=0, windAngle=333.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202147062, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202147058, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:44.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:44.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:44.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083065045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:44.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083065045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:44.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083064653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:44.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083064653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:44.547 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:17:44.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083065666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:44.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083065666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:45.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97229889, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97229884, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:45.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:45.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:45.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:45.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:45.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213410312, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213407999, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:45.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:17:45.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:17:45.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083066678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:45.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083066678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:45.616 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86725479, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86725475, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:45.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:45.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:45.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083086786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:45.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083086786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:45.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:45.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:45.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083061994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:45.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083061994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:45.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114264468, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114264462, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:45.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:45.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:46.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083066283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:46.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083066283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:46.965 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:46.965 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:47.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083068049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:47.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083068049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:47.195 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:47.195 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:47.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93732070, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93732063, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:47.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:47.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:47.305 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336137927, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336137924, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:47.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:47.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:47.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083067657, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:47.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083067657","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:47.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083068663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:47.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083068663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:47.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:47.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:48.553 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88811422, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.7, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88811418, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:48.553 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:48.553 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:48.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083069677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:48.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083069677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:48.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21438784, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.0, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21436457, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:48.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:17:48.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:17:48.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083089782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:48.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083089782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:48.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083064989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:48.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083064989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:49.229 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122048559, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122048553, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:49.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:49.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:49.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.29, rainFlag=0, windAngle=324.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202152367, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202152360, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:49.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:49.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:49.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083069289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:49.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083069289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:50.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083071043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:50.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083071043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:50.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:50.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:17:50.401 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083071403, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:17:50.401 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083071403","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:17:50.401 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97235180, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97235174, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:50.402 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:50.402 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:50.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083070643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:50.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083070643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:50.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083071664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:50.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083071664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:50.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86730781, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86730777, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:50.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:50.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:51.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.75, rainFlag=0, windAngle=115.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:17:51.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:17:51.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:17:51.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114269756, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114269752, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:51.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:51.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:51.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:51.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:17:51.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:51.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:17:51.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083072678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:51.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083072678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:51.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083092778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:51.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083092778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:51.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083067996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:51.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083067996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:52.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083071095, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:17:52.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083071095","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:17:52.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=322.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:17:52.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:17:52.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:17:52.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083072286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:52.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083072286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:52.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:52.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:17:52.518 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93737380, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93737374, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:52.518 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:52.518 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:52.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336143217, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336143214, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:52.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:52.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:52.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213417925, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213415645, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:52.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:17:52.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:17:53.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083074050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:53.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083074050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:53.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.64, rainFlag=1, windAngle=180.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.50, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:17:53.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:17:53.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:17:53.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083073645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:53.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083073645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:53.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:53.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:17:53.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083074668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:53.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083074668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:53.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88816731, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.7, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88816712, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:53.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:53.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:54.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083075674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:54.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083075674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:54.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122053860, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122053854, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:54.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:54.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:54.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.48, rainFlag=0, windAngle=351.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202157678, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202157672, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:54.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:54.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:17:54.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083095776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:54.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083095776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:54.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083070995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:54.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083070995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:55.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:55.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:17:55.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083075281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:55.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083075281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:55.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97240492, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97240487, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:55.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:17:55.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:17:55.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:55.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:17:56.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083077037, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:56.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083077037","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:56.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86736072, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86736068, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:56.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:17:56.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:17:56.236 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21446397, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.0, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21444092, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:56.237 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:17:56.237 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:17:56.490 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114275044, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114275041, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:56.490 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:17:56.491 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:17:56.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083076644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:56.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083076644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:56.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083077672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:56.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083077672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:57.040 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:57.040 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:17:57.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:57.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:17:57.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083078672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:57.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083078672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:17:57.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083098779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:57.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083098779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:17:57.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93742681, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93742676, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:57.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:17:57.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:17:57.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336148498, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336148495, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:57.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:17:57.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:17:57.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083073983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:57.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083073983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:17:57.985 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:57.985 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:17:58.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083078286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:17:58.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083078286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:17:59.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083080042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:59.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083080042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:17:59.162 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88822030, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.7, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88822024, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:59.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:17:59.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:17:59.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083079647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:59.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083079647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:17:59.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083080677, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:17:59.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083080677","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:17:59.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122059151, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122059146, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:59.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:17:59.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:17:59.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.94, rainFlag=0, windAngle=328.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202162968, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202162963, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:17:59.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:17:59.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:00.238 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:00.238 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:00.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213425538, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213423226, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:00.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:18:00.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:18:00.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083081681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:00.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083081681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:00.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083101777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:00.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083101777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:00.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083076991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:00.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083076991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:01.012 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97245795, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97245789, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:01.013 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:01.013 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:01.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.11, rainFlag=0, windAngle=110.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:18:01.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:18:01.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:18:01.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083081281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:01.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083081281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:01.439 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:01.439 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:01.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86741352, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86741348, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:01.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:01.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:01.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:01.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:01.782 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114280338, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114280334, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:01.783 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:01.783 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:02.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083083047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:02.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083083047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:02.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=331.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.26, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:18:02.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:18:02.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:18:02.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083082643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:02.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083082643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:02.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:02.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:02.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083083675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:02.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083083675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:03.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93747983, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93747978, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:03.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:03.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:03.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336153775, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336153773, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:03.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:03.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:03.322 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=2.87, rainFlag=1, windAngle=194.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.35, cell_4Voltage=4.37, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.4}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:18:03.322 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:18:03.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:18:03.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083084680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:03.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083084680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:03.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083104787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:03.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083104787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:03.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:03.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:03.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083079986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:03.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083079986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:03.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21451682, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:04.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083084285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:04.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083084285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:04.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88827321, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.7, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88827315, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:04.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:04.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:04.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083084843, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:04.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083084843","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:05.118 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122064448, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122064445, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:05.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:05.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:05.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083086040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:05.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083086040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:05.221 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.22, rainFlag=0, windAngle=346.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202168259, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202168254, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:05.221 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:05.221 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:05.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:05.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:05.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083085655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:05.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083085655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:05.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083086676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:05.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083086676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:05.849 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:05.849 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:06.299 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97251090, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97251087, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:06.299 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:06.299 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:06.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083087671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:06.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083087671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083107784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083107784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:06.775 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86746642, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86746639, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:06.775 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:06.775 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:06.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083082986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:06.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083082986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:07.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:07.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:07.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114285679, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114285672, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:07.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:07.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:07.319 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:07.319 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:07.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083087292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:07.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083087292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:07.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213430821, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:08.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:08.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:08.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083089047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:08.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083089047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:08.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93753286, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93753280, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:08.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:08.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:08.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336159100, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336159097, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:08.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:08.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:08.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083088642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:08.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083088642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:08.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083089666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:08.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083089666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:09.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083090120, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:09.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083090120","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:09.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083090674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:09.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083090674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:09.668 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083090305, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:09.668 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083090305","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:09.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083110782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:09.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083110782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:09.754 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88832623, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.7, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88832617, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:09.754 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:09.754 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:09.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083085983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:09.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083085983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:10.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:10.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:10.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083090285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:10.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083090285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:10.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122069744, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122069738, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:10.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:10.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:10.511 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.03, rainFlag=0, windAngle=341.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202173547, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202173543, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:10.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:10.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:11.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.59, rainFlag=0, windAngle=97.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.24, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.59, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:18:11.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:18:11.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:18:11.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083092048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:11.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083092048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:11.461 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21459337, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:11.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083091647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:11.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083091647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:11.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:11.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:11.648 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:11.648 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:11.663 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97256443, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97256438, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:11.663 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:11.663 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:11.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083092675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:11.840 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083092675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:12.067 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86751933, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86751929, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:12.067 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:12.067 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:12.218 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.09, rainFlag=1, windAngle=337.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:18:12.218 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:18:12.218 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:18:12.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114290985, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114290981, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:12.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:12.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:12.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083093677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:12.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083093677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:12.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:12.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:12.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083113774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:12.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083113774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:12.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083088989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:12.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083088989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:13.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.46, rainFlag=1, windAngle=19.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.50, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:18:13.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:18:13.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:18:13.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083093290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:13.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083093290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:13.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93758576, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93758570, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:13.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:13.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:13.767 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336164391, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336164388, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:13.767 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:13.767 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:13.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:13.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:14.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083095051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:14.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083095051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:14.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083094647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:14.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083094647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:14.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083095671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:14.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083095671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:15.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88837914, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.7, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88837908, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:15.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:15.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:15.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:15.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:15.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083096672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:15.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083096672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:15.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213438434, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:15.610 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083095055, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:15.610 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083095055","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:15.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122075048, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122075042, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:15.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:15.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:15.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083116788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:15.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083116788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:15.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.31, rainFlag=0, windAngle=348.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202178850, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202178845, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:15.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:15.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:15.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083091987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:15.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083091987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:15.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:15.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:16.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083096287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:16.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083096287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:16.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97261743, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97261738, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:16.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:16.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:17.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083098039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:17.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083098039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:17.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:17.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:17.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86757211, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86757208, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:17.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:17.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:17.377 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:17.377 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:17.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083097646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:17.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083097646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:17.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114296291, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114296285, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:17.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:17.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:17.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083098677, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:17.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083098677","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:18.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:18.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:18.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083099673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:18.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083099673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:18.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083119773, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:18.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083119773","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:18.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083094993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:18.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083094993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:19.028 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93763889, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93763884, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:19.028 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:19.028 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:19.065 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336169683, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336169679, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:19.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:19.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:19.073 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21469234, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21466905, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:19.073 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:18:19.073 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:18:19.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083099279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:19.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083099279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:20.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083101043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:20.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083101043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:20.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:20.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:20.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88843251, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.7, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88843245, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:20.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:20.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:20.481 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083101482, roll=0, lon=0, battery=0.9, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.59, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:18:20.482 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.9","date":"1772083101482","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.59","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:18:20.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083100651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:20.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083100651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:20.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083101676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:20.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083101676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:21.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122080347, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122080342, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:21.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:21.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:21.094 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=1.00, windSpeed=5.37, rainFlag=0, windAngle=81.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.2, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:18:21.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:18:21.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:18:21.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=7.00, windSpeed=3.05, rainFlag=0, windAngle=344.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202184142, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202184138, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:21.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:21.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:21.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083102672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:21.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083102672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:21.697 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:21.697 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:21.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083122778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:21.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083122778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:21.733 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:21.733 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:21.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083097996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:21.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083097996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:22.199 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=342.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:18:22.199 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:18:22.199 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:18:22.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97267026, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97267019, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:22.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:22.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:22.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083102274, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:22.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083102274","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:22.628 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:22.628 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:22.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86762502, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86762500, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:22.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:22.634 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:23.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114301598, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114301595, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:23.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:23.043 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:23.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.37, rainFlag=1, windAngle=317.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.3, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:18:23.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:18:23.118 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:18:23.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083104052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:23.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083104052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:23.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213448391, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213446101, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:23.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:18:23.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:18:23.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083103656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:23.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083103656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:23.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083104663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:23.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083104663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:23.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083102915, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:18:23.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083102915","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:18:24.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:24.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:24.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93769190, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93769186, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:24.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:24.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:24.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336174974, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336174971, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:24.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:24.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:24.604 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083105678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:24.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083105678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:24.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083125784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:24.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083125784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:24.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083100987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:24.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083100987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:25.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083105287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:25.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083105287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:25.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:25.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:25.671 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88848539, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.7, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88848533, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:25.671 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:25.671 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:25.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:25.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:26.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083107042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:26.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083107042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:26.412 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=7.00, windSpeed=3.05, rainFlag=0, windAngle=322.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202189451, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202189447, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:26.412 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:26.413 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:26.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122085645, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122085642, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:26.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:26.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:26.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083106646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:26.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083106646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:26.686 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21476845, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21474516, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:26.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:18:26.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:18:26.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083107671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:26.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083107671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:27.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:27.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:27.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:27.443 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:27.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97272325, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97272320, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:27.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:27.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:27.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083108681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:27.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083108681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:27.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083128786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:27.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083128786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:27.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083103982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:27.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083103982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:27.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86767784, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86767781, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:27.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:27.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:28.162 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:28.162 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:28.340 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114306894, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114306888, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:28.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:28.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:28.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083108290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:28.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083108290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:29.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083110042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:29.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083110042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:29.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083109645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:29.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083109645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:29.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336180265, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336180262, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:29.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:29.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:29.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93774526, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93774476, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:29.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:29.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:29.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083110669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:29.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083110669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:30.441 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:30.441 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:30.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083111671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:30.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083111671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:30.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083131778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:30.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083131778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:30.830 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213456004, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213453679, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:30.830 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:18:30.830 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:18:30.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083106987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:30.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083106987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:30.972 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88853841, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.7, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88853835, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:30.972 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:30.972 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:31.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.18, rainFlag=0, windAngle=95.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:18:31.067 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:18:31.067 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:18:31.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083111286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:31.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083111286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:31.618 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122090940, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122090934, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:31.618 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:31.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:31.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.12, rainFlag=0, windAngle=329.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202194754, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202194742, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:31.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:31.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:31.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:31.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:31.791 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:31.791 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:32.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083113040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:32.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083113040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:32.279 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=337.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:18:32.279 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:18:32.279 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:18:32.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083112643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:32.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083112643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:32.694 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:32.694 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:32.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083113676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:32.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083113676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:32.828 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97277617, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97277611, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:32.828 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:32.829 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:33.207 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86773074, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86773070, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:33.207 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:33.207 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:33.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.09, rainFlag=1, windAngle=345.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:18:33.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:18:33.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:18:33.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083114671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:33.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083114671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:33.635 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114312185, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114312179, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:33.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:33.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:33.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083134787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:33.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083134787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:33.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083109995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:33.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083109995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:34.348 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:34.348 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:34.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083114282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:34.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083114282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21484458, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21482131, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:18:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:18:34.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336185545, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336185542, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:34.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:34.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:34.959 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93779817, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93779811, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:34.959 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:34.959 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:35.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083116042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:35.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083116042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:35.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083115655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:35.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083115655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:35.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:35.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:35.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083116677, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:35.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083116677","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:36.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:36.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:36.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88859135, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88859133, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:36.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:36.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:36.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083117682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:36.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083117682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:36.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083116605, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:36.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083116605","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:36.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083137786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:36.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083137786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:36.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122096230, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122096225, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:36.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:36.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:36.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083112995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:36.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083112995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:37.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.77, rainFlag=0, windAngle=343.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202200043, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202200039, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:37.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:37.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:37.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:37.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:37.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083117280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:37.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083117280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:37.507 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:37.507 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:38.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97282908, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97282902, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:38.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:38.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:38.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083119039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:38.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083119039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:38.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:38.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:38.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213463616, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213461305, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:38.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:18:38.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:18:38.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86778354, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86778351, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:38.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:38.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:38.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083118644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:38.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083118644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:38.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083119664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:38.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083119664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:38.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114317474, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114317469, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:38.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:38.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:39.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083120675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:39.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083120675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:39.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083140788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:39.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083140788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:39.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083115983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:39.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083115983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:40.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336190835, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336190832, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:40.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:40.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:40.249 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93785108, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93785102, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:40.249 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:40.249 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:40.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083120284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:40.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083120284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:40.499 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:40.499 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:41.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083121753, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:41.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083121753","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:41.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.55, rainFlag=0, windAngle=95.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:18:41.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:18:41.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:18:41.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083122042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:41.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083122042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:41.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083121928, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:41.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083121928","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:41.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083121653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:41.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083121653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:41.557 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88864429, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88864426, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:41.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:41.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:41.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083122665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:41.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083122665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:41.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:41.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:41.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:41.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:41.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21492070, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21489788, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:41.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:18:41.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:18:42.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122101532, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122101527, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:42.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:42.211 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:42.251 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=343.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.00, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:18:42.251 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:18:42.251 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:18:42.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.96, rainFlag=0, windAngle=336.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202205336, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202205332, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:42.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:42.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:42.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083123670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:42.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083123670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:42.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083143775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:42.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083143775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:42.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:42.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:42.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083118994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:42.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083118994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:43.172 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.01, rainFlag=1, windAngle=334.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.15, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:18:43.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:18:43.173 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:18:43.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083123286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:43.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083123286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:43.413 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97288199, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97288193, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:43.413 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:43.413 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:43.777 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86783645, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86783642, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:43.777 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:43.777 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:44.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083125052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:44.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083125052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:44.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114322763, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114322759, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:44.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:44.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:44.408 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:44.408 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:44.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083124651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:44.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083124651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:44.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083125666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:44.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083125666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:45.502 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336196126, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336196123, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:45.503 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:45.503 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:45.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93790410, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93790404, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:45.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:45.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:45.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083126671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:45.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083126671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:45.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083146776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:45.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083146776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:45.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083121996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:45.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083121996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:46.047 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:46.047 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:46.063 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213471228, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213468915, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:46.063 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:18:46.063 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:18:46.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:46.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:46.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083126277, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:46.358 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083126277","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:46.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88869732, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88869718, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:46.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:46.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:47.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083128050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:47.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083128050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:47.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083126802, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:47.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083126802","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:47.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:47.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:47.510 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122106843, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122106839, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:47.511 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:47.511 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:47.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083127648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:47.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083127648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:47.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:47.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:47.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=7.00, windSpeed=3.33, rainFlag=0, windAngle=328.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202210634, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202210626, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:47.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:47.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:47.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083128660, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:47.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083128660","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:48.299 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:48.299 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:48.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083129672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:48.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083129672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:48.695 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97293484, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97293481, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:48.695 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:48.695 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:48.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083149779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:48.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083149779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:48.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083124995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:48.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083124995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:49.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86788946, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86788943, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:49.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:49.088 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:49.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083129285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:49.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083129285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:49.509 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114328057, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114328052, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:49.510 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:49.510 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:49.521 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21497353, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:50.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083131053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:50.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083131053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:50.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083130652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:50.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083130652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:50.559 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083131561, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:18:50.559 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083131561","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:18:50.571 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:50.571 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:18:50.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336201407, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336201403, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:50.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:50.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:50.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083131675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:50.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083131675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:50.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.37, rainFlag=0, windAngle=239.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93795712, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93795706, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:50.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:50.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:51.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.92, rainFlag=0, windAngle=94.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:18:51.118 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:18:51.118 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:18:51.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083132675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:51.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083132675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:51.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083152781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:51.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083152781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:51.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:51.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:18:51.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083127984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:51.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083127984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:51.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:51.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:18:52.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=336.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:18:52.124 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:18:52.124 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:18:52.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88875027, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88875021, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:52.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:52.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:52.355 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083132276, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:52.355 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083132276","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:52.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:52.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:18:52.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122112193, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122112186, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:52.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:52.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:52.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=7.00, windSpeed=3.33, rainFlag=0, windAngle=336.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202215932, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202215927, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:52.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:52.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:53.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083134047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:53.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083134047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:53.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.83, rainFlag=1, windAngle=15.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=1.41, bCharging=1, capacity=32.00, voltage=26.03}}} +13:18:53.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:18:53.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:18:53.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083133648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:53.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083133648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:53.613 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213476570, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:53.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083134666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:53.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083134666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:53.988 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97298779, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97298774, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:53.989 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:53.989 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:54.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86794249, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86794246, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:54.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:54.386 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:54.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:54.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:18:54.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083135668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:54.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083135668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:54.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083155778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:54.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083155778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:54.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114333348, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114333343, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:54.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:18:54.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:18:54.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083130982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:54.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083130982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:55.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083135281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:55.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083135281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:55.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083134715, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:18:55.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083134715","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:18:56.075 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336206698, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336206694, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:56.075 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:18:56.075 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:18:56.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:56.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:18:56.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.64, rainFlag=0, windAngle=268.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93801003, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93800997, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:56.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:18:56.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:18:56.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083137043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:56.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083137043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:56.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:56.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:18:56.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083136651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:56.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083136651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:56.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083137664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:56.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083137664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:57.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21504964, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:57.441 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:57.441 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:18:57.458 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88880328, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88880323, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:57.458 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:18:57.458 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:18:57.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083138681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:57.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083138681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:18:57.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:57.641 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:18:57.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083158782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:57.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083158782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:18:57.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083133988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:57.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083133988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:18:58.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122117491, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122117487, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:58.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:18:58.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:18:58.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=7.00, windSpeed=4.16, rainFlag=0, windAngle=340.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202221235, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202221229, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:58.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:18:58.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:18:58.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083138278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:18:58.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083138278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:18:58.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:58.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:18:59.130 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083140035, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:59.130 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083140035","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:18:59.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97304077, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97304074, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:59.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:18:59.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:18:59.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083139645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:59.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083139645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:18:59.677 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86799539, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86799536, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:18:59.677 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:18:59.677 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:18:59.832 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083140670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:18:59.832 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083140670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:18:59.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:19:00.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114338657, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114338654, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:00.102 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:00.102 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:00.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083141668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:00.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083141668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:00.629 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:00.629 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:00.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083161774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:00.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083161774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:00.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083136984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:00.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083136984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:01.089 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.11, rainFlag=0, windAngle=118.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.4, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:19:01.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:19:01.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:19:01.279 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213484126, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:01.353 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336211977, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336211973, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:01.353 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:01.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:01.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083141288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:01.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083141288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:01.449 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.37, rainFlag=0, windAngle=258.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93806305, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93806299, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:01.449 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:01.449 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:01.955 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:01.955 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:01.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:01.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:02.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.00, rainFlag=1, windAngle=11.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:19:02.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:19:02.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:19:02.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083143052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:02.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083143052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:02.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083142653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:02.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083142653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:02.750 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88885619, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88885614, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:02.750 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:02.750 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:02.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083143665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:02.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083143665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:02.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:02.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:03.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.46, rainFlag=1, windAngle=71.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:19:03.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:19:03.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:19:03.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122122797, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122122791, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:03.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:03.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:03.511 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=0.00, windSpeed=3.70, rainFlag=0, windAngle=12.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202226542, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202226538, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:03.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:03.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:03.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083144672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:03.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083144672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:03.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083164780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:03.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083164780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:03.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083139990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:03.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083139990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:04.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083144280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:04.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083144280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:04.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97309369, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97309365, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:04.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:04.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:04.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:04.798 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:04.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21514907, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21512576, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:04.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:19:04.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:19:04.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86804830, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86804826, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:04.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:04.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:05.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083146047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:05.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083146047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:05.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114343950, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114343946, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:05.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:05.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:05.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083145647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:05.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083145647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:05.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083146665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:05.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083146665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:06.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:06.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:06.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:06.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:06.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083147669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:06.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083147669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:06.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336217268, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336217265, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:06.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:06.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:06.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083167779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:06.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083167779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:06.768 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=273.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93811629, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93811624, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:06.768 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:06.768 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:06.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083142985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:06.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083142985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:07.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083147293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:07.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083147293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:07.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:07.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:07.703 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:07.703 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:08.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88890922, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88890916, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:08.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:08.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:08.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083149042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:08.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083149042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:08.286 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083148292, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:08.286 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083148292","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:08.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:08.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:08.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083148656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:08.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083148656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:08.769 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122128098, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122128092, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:08.769 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:08.769 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:08.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=0.00, windSpeed=3.79, rainFlag=0, windAngle=2.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202231849, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.5, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202231843, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:08.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:08.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:08.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083149669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:08.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083149669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:08.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213494065, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213491741, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:08.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:19:08.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:19:09.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083150676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:09.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083150676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:09.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083170774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:09.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083170774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:09.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97314658, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97314655, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:09.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:09.869 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:09.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083145987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:09.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083145987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:10.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86810110, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86810106, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:10.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:10.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:10.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083150289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:10.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083150289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:10.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114349241, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114349236, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:10.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:10.689 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:10.690 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:10.690 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:11.069 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=1.00, windSpeed=4.44, rainFlag=0, windAngle=86.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.23, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:19:11.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:19:11.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:19:11.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083152042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:11.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083152042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:11.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083151655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:11.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083151655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:11.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083152671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:11.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083152671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:11.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336222548, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336222544, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:11.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:11.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:12.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:12.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:12.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:12.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:12.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.09, rainFlag=0, windAngle=273.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93816930, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.7, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93816924, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:12.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:12.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:12.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.00, rainFlag=1, windAngle=15.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:19:12.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:19:12.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:19:12.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21522519, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21520245, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:12.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:19:12.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:19:12.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083153682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:12.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083153682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:12.649 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083153373, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:12.649 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083153373","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:12.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083173779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:12.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083173779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:12.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083148996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:12.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083148996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:12.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083153563, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:12.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083153563","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:12.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:12.978 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:13.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.55, rainFlag=1, windAngle=56.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.50, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:19:13.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:19:13.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:19:13.343 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88896212, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88896206, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:13.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:13.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:13.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083153287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:13.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083153287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:14.069 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122133400, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122133394, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:14.069 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:14.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:14.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083155045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:14.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083155045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:14.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083154645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:14.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083154645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:14.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083155672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:14.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083155672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:14.856 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:14.856 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:14.971 [scheduling-1] INFO c.r.d.s.i.SynService - [updateDevicesScheduled,194] - ========== 开始执行定时任务：同步基础表数据 ========== +13:19:14.974 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,132] - 成功加载 1 个网关设备，共扫描 10 个设备，跳过 0 个空页 +13:19:15.062 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.68, rainFlag=0, windAngle=343.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202238097, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202238091, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:15.062 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:15.062 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:15.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97319944, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97319939, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:15.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:15.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:15.260 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,135] - 没有找到更多网关设备，共扫描 25 个设备，跳过 3 个空页 +13:19:15.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86815401, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86815397, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:15.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:15.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:15.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083156678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:15.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083156678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:15.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083176788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:15.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083176788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:15.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083151983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:15.902 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083151983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:15.995 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114354545, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114354540, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:15.995 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:15.995 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:16.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:16.288 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:16.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083156281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:16.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083156281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:16.510 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:16.510 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:16.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213501678, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213499350, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:16.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:19:16.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:19:17.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083158042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:17.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083158042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:17.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336227839, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336227835, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:17.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:17.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:17.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=301.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93822221, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93822216, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:17.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:17.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:17.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083157643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:17.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083157643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:17.567 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:17.567 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:17.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:17.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:17.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083158672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:17.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083158672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:18.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:18.506 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:18.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083159675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:18.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083159675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:18.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88901514, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88901508, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:18.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:18.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:18.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083179778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:18.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083179778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:18.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083154991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:18.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083154991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:19.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083158614, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:19.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083158614","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:19.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083159276, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:19.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083159276","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:19.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122138701, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122138695, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:19.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:19.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:19.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21530132, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21527813, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:19.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:19:19.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:19:20.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083161045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:20.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083161045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:20.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=347.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202243394, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202243390, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:20.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:20.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:20.464 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97325241, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97325237, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:20.464 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:20.464 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:20.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083160642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:20.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083160642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:20.646 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083161641, roll=0, lon=0, battery=0.9, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.58, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:19:20.646 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.9","date":"1772083161641","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.58","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:19:20.750 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:20.750 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:20.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083161667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:20.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083161667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:20.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86820692, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86820689, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:20.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:20.827 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:21.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=1.00, windSpeed=3.61, rainFlag=0, windAngle=87.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:19:21.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:19:21.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:19:21.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114359846, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114359840, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:21.293 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:21.293 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:21.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083162670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:21.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083162670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:21.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083182776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:21.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083182776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:21.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083157983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:21.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083157983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:22.089 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:22.089 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:22.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:22.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:22.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=304.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:19:22.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:19:22.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:19:22.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083162288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:22.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083162288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:22.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336233141, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336233137, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:22.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:22.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:22.661 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=258.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93827526, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93827516, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:22.661 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:22.661 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:23.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:23.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:23.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.64, rainFlag=1, windAngle=192.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:19:23.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:19:23.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:19:23.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083164043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:23.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083164043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:23.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083163647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:23.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083163647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:23.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083164668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:23.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083164668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:23.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88906804, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88906798, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:23.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:23.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:24.061 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213509291, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213507016, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:24.061 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:19:24.061 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:19:24.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083165669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:24.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083165669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:24.693 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122144003, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122143997, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:24.693 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:24.693 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:24.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083185783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:24.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083185783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:24.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083160989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:24.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083160989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:24.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:24.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:25.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083165293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:25.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083165293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:25.660 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.96, rainFlag=0, windAngle=331.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202248699, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202248694, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:25.660 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:25.661 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:25.747 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97330537, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97330531, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:25.747 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:25.747 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:26.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86825983, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86825979, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:26.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:26.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:26.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083167038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:26.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083167038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:26.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:26.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:26.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083166654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:26.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083166654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:26.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:26.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:26.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114365133, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114365130, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:26.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:26.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:26.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083167663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:26.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083167663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:27.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21537744, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21535412, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:27.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:19:27.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:19:27.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083166550, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:19:27.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083166550","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:19:27.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083168682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:27.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083168682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:27.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:27.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:27.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083188784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:27.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083188784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:27.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336238442, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336238439, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:27.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:27.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:27.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083163990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:27.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083163990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:27.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:27.985 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:28.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=264.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93832859, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93832854, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:28.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:28.005 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:28.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083168278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:28.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083168278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:28.572 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:28.572 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:29.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083170048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:29.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083170048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:29.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88912095, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88912090, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:29.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:29.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:29.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083169648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:29.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083169648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:29.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083170671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:29.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083170671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:29.981 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122149305, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122149298, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:29.982 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:29.982 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:30.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083171676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:30.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083171676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:30.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083191779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:30.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083191779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:30.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:30.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:30.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083166990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:30.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083166990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:30.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=0.00, windSpeed=3.61, rainFlag=0, windAngle=2.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202253991, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202253986, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:30.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:30.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:31.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97335838, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97335833, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:31.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:31.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:31.219 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.81, rainFlag=0, windAngle=100.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:19:31.220 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:19:31.220 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:19:31.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083171281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:31.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083171281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:31.394 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86831263, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86831259, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:31.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:31.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:31.730 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213516904, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213514574, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:31.731 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:19:31.731 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:19:31.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114370427, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114370422, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:31.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:31.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:32.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:32.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:32.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083173047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:32.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083173047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:32.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:32.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:32.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.00, rainFlag=1, windAngle=13.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.25, cell_4Voltage=4.28, cell_6Voltage=4.28, cellTemp=14.90, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:19:32.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:19:32.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:19:32.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083172642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:32.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083172642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:32.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083173676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:32.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083173676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:33.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:33.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:33.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=1.11, rainFlag=1, windAngle=202.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.3, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:19:33.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:19:33.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:19:33.130 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336243755, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336243751, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:33.130 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:33.130 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:33.287 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.18, rainFlag=0, windAngle=259.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93838153, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93838151, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:33.287 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:33.287 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:33.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083174668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:33.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083174668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:33.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083194783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:33.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083194783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:33.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083169984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:33.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083169984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:34.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083174287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:34.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083174287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:34.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88917396, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88917391, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:34.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:34.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:35.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083176046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:35.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083176046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:35.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:35.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:35.265 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21543035, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:35.272 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122154603, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122154599, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:35.272 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:35.273 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:35.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083175654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:35.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083175654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:35.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083176671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:35.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083176671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:36.250 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=7.00, windSpeed=3.33, rainFlag=0, windAngle=350.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202259292, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202259287, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:36.250 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:36.250 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:36.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97341129, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97341123, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:36.343 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:36.343 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:36.411 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:36.411 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:36.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083177670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:36.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083177670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:36.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:36.639 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:36.674 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86836542, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86836539, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:36.675 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:36.675 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:36.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083197787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:36.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083197787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:36.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083172991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:36.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083172991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:37.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114375755, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114375722, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:37.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:37.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:37.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083177294, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:37.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083177294","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:37.692 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:37.692 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:38.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:38.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:38.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083179039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:38.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083179039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:38.409 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336249034, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336249031, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:38.410 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:38.410 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:38.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083178643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:38.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083178643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:38.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.09, rainFlag=0, windAngle=265.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93843435, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93843431, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:38.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:38.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:38.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:38.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:38.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083179673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:38.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083179673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:39.290 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213522196, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:39.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083180681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:39.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083180681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:39.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083200788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:39.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083200788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:39.863 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88922731, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88922693, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:39.863 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:39.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:39.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083175982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:39.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083175982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:39.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083179984, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:39.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083179984","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:40.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083180287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:40.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083180287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:40.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122159898, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122159892, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:40.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:40.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:40.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:40.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:41.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.77, rainFlag=0, windAngle=105.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:19:41.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:19:41.093 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:19:41.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083182042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:41.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083182042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:41.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083181651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:41.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083181651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:41.551 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=0.00, windSpeed=3.79, rainFlag=0, windAngle=40.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202264585, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202264578, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:41.551 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:41.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:41.651 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97346430, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97346425, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:41.652 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:41.652 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:41.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083182672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:41.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083182672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:41.966 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86841833, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86841830, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:41.966 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:41.966 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:42.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=317.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:19:42.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:19:42.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:19:42.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:42.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:42.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:42.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:42.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114381054, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114381049, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:42.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:42.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:42.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083183680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:42.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083183680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:42.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083203785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:42.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083203785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:42.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=73.8, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21550689, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:42.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083178990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:42.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083178990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:43.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:43.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:43.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.37, rainFlag=1, windAngle=243.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.15, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.3, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:19:43.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:19:43.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:19:43.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083183281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:43.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083183281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:43.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336254328, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336254324, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:43.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:43.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:43.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.18, rainFlag=0, windAngle=254.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93848742, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93848737, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:43.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:43.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:44.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083185043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:44.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083185043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:44.249 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083184972, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:44.249 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083184972","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:44.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083184648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:44.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083184648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:44.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083185214, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:44.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083185214","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:44.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083185667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:44.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083185667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:45.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88928023, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88928017, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:45.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:45.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:45.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:45.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:45.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083186677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:45.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083186677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:45.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083206784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:45.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083206784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:45.860 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122165189, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122165183, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:45.860 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:45.860 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:45.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083181982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:45.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083181982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:46.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083186290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:46.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083186290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:46.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:46.468 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:46.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=3.00, windDir=7.00, windSpeed=3.42, rainFlag=0, windAngle=327.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202269893, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202269889, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:46.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:46.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:46.936 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97351726, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97351724, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:46.936 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:46.936 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:46.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:46.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:46.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213529809, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:47.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083188041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:47.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083188041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:47.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86847122, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86847120, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:47.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:47.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:47.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083187653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:47.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083187653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:47.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083188674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:47.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083188674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:47.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:47.838 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:47.857 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114386403, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114386397, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:47.857 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:47.857 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:48.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:48.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:48.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083189676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:48.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083189676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:48.702 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:48.702 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:48.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083209778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:48.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083209778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:48.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083184995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:48.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083184995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:48.985 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336259606, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336259603, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:48.985 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:48.986 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:49.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=245.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93854042, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93854038, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:49.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:49.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:49.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083189281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:49.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083189281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:50.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083191046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:50.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083191046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:50.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21560580, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=73.8, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21558257, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:50.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:19:50.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:19:50.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88933314, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88933308, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:50.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:50.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:50.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083190644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:50.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083190644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:50.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083191716, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:19:50.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083191716","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:19:50.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083191674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:50.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083191674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:50.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083190344, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:50.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083190344","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:50.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:50.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:19:51.065 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.31, rainFlag=0, windAngle=105.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:19:51.065 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:19:51.065 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:19:51.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122170478, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122170473, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:51.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:51.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:51.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083192674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:51.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083192674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:51.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083212779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:51.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083212779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:51.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083187992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:51.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083187992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:52.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.68, rainFlag=0, windAngle=306.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202275186, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202275182, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:52.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:52.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:52.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.00, rainFlag=1, windAngle=3.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:19:52.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:19:52.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:19:52.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97357023, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97357018, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:52.232 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:52.232 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:52.274 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:52.274 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:19:52.302 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:52.302 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:19:52.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083192290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:52.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083192290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:52.546 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86852414, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86852411, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:52.546 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:52.546 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:53.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083194045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:53.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083194045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:53.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114391702, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114391696, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:53.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:53.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:53.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.46, rainFlag=1, windAngle=174.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:19:53.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:19:53.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:19:53.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:53.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:19:53.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083193656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:53.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083193656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:53.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083194676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:53.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083194676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:54.275 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336264896, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336264893, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:54.275 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:54.275 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:54.478 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93859335, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93859329, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:54.478 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:54.478 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:54.515 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213539742, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213537466, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:54.516 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:19:54.516 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:19:54.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083195671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:54.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083195671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:54.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083215780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:54.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083215780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:54.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083190997, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:54.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083190997","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:55.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:55.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:19:55.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083195290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:55.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083195290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:55.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88938615, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88938609, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:55.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:19:55.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:19:56.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083197049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:56.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083197049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:56.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083196651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:56.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083196651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:56.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122175770, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122175765, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:56.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:19:56.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:19:56.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:56.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:19:56.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083197675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:56.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083197675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:19:57.011 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:57.011 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:19:57.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.85, rainFlag=0, windAngle=298.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202280488, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202280483, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:57.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:19:57.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:19:57.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97362314, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97362310, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:57.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:19:57.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:19:57.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083198670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:57.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083198670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:19:57.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083218786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:57.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083218786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:19:57.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86857755, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86857702, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:57.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:19:57.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:19:57.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083193979, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:57.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083193979","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:19:57.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:57.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:19:58.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21568192, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=73.8, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21565859, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:58.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:19:58.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:19:58.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:58.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:19:58.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083198280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:19:58.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083198280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:19:58.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114397003, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114396998, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:58.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:19:58.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:19:58.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:58.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:19:59.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083200050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:59.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083200050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:19:59.385 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083198347, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:19:59.385 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083198347","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:19:59.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083199653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:59.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083199653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:19:59.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336270187, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336270184, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:59.564 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:19:59.564 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:19:59.776 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93864633, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93864629, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:19:59.777 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:19:59.777 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:19:59.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083200677, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:19:59.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083200677","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:00.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083201673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:00.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083201673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:00.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083221783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:00.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083221783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:00.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083196985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:00.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083196985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:01.085 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:01.085 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:01.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88943964, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88943958, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:01.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:01.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:01.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.98, rainFlag=0, windAngle=105.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.23, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:20:01.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:20:01.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:20:01.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083201294, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:01.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083201294","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:01.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122181061, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122181055, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:01.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:01.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:02.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213547355, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213545045, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:02.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:20:02.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:20:02.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083203043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:02.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083203043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:02.335 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:02.335 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:02.339 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=326.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:20:02.339 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:20:02.339 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:20:02.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:02.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:02.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083202656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:02.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083202656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:02.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.85, rainFlag=0, windAngle=320.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202285792, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202285788, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:02.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:02.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:02.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083203662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:02.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083203662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:02.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97367606, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97367600, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:02.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:02.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:03.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.92, rainFlag=1, windAngle=145.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.3, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:20:03.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:20:03.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:20:03.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86863041, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86863037, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:03.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:03.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:03.301 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:03.301 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:03.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083204681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:03.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083204681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:03.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083224784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:03.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083224784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:03.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114402306, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114402300, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:03.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:03.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:03.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083199996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:03.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083199996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:04.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083204288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:04.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083204288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:04.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336275479, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336275476, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:04.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:20:04.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:20:05.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=0, windAngle=281.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93869941, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93869932, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:05.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:05.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:05.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083206049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:05.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083206049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:05.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083205645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:05.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083205645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:05.693 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:05.693 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:05.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21575804, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=73.8, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21573482, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:05.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:20:05.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:20:05.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083206668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:05.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083206668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:06.382 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88949253, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88949247, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:06.382 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:06.383 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:06.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083207674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:06.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083207674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:06.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:06.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083227785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083227785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:06.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083202983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:06.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083202983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:07.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122186361, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122186356, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:07.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:07.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:07.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:07.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:07.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083207281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:07.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083207281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:07.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:07.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:08.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.22, rainFlag=0, windAngle=330.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202291079, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202291075, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:08.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:08.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:08.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97372909, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97372902, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:08.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:08.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:08.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083209044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:08.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083209044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:08.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:08.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:08.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86868331, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86868328, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:08.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:08.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:08.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083208644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:08.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083208644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:08.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083209674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:08.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083209674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:08.828 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:08.828 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:09.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114407604, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114407599, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:09.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:09.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:09.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083210682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:09.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083210682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:09.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083230778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:09.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083230778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:09.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213554968, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213552655, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:09.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:20:09.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:20:09.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083205992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:09.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083205992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:10.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336280781, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336280777, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:10.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:20:10.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:20:10.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083210283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:10.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083210283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:10.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=0, windAngle=268.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93875230, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93875224, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:10.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:10.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:11.017 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.68, rainFlag=0, windAngle=102.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:20:11.017 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:20:11.017 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:20:11.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083212042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:11.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083212042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:11.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:11.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:11.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083211644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:11.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083211644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:11.686 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88954554, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88954548, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:11.686 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:11.686 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:11.686 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083211694, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:11.686 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083211694","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:11.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083212669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:11.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083212669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:12.212 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=327.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:20:12.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:20:12.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:20:12.391 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:12.392 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:12.425 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:12.425 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:12.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122191653, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122191648, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:12.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:12.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:12.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083213668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:12.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083213668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:12.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083233786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:12.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083233786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:12.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083208989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:12.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083208989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:13.167 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.83, rainFlag=1, windAngle=44.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.3, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:20:13.167 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:20:13.167 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:20:13.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21583416, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=73.8, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21581137, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:13.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:20:13.255 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:20:13.329 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.59, rainFlag=0, windAngle=348.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202296371, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202296367, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:13.329 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:13.329 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:13.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:13.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:13.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083213293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:13.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083213293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:13.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97378199, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97378193, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:13.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:13.421 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:13.764 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86873623, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86873619, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:13.764 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:13.764 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:14.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083215038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:14.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083215038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:14.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114412898, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114412892, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:14.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:14.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:14.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083214650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:14.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083214650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:14.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083215661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:14.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083215661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:15.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:20:15.448 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336286072, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336286068, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:15.448 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:20:15.448 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:20:15.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083216681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:15.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083216681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:15.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93880532, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93880526, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:15.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:15.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:15.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083236786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:15.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083236786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:15.752 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:15.752 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:15.869 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083216594, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:15.870 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083216594","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:15.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083211982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:15.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083211982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:16.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083216846, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:16.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083216846","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:16.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083216283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:16.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083216283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:16.658 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:16.659 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:16.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88959843, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88959838, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:16.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:16.971 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:17.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083218044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:17.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083218044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:17.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:17.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:17.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213562582, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213560258, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:17.416 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:20:17.416 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:20:17.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083217646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:17.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083217646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:17.615 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122196945, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122196939, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:17.615 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:17.615 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:17.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083218673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:17.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083218673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:18.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:18.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:18.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:18.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:18.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083219676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:18.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083219676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:18.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.12, rainFlag=0, windAngle=353.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202301664, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202301659, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:18.622 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:18.622 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:18.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083239779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:18.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083239779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:18.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97383511, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97383506, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:18.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:18.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:18.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:18.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:18.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083214987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:18.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083214987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:19.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86878913, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86878909, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:19.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:19.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:19.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083219284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:19.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083219284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:19.654 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114418199, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114418194, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:19.655 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:19.655 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:20.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083221043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:20.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083221043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:20.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083220654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:20.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083220654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:20.744 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336291362, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336291359, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:20.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:20:20.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:20:20.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083221795, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:20:20.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083221795","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:20:20.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083221673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:20.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083221673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:20.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=73.8, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21588697, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:20.967 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93885822, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93885817, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:20.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:20.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:21.097 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.74, rainFlag=0, windAngle=108.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:20:21.097 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:20:21.097 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:20:21.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:21.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:21.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083222682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:21.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083222682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:21.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083242788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:21.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083242788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:21.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083217996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:21.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083217996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:22.184 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=315.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.29, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:20:22.184 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:20:22.184 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:20:22.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88965134, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88965129, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:22.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:22.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:22.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083222289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:22.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083222289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:22.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:22.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:22.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:22.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:22.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083222072, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:22.665 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083222072","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:22.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122202232, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122202228, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:22.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:22.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:23.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.55, rainFlag=1, windAngle=268.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:20:23.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:20:23.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:20:23.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083224047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:23.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083224047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:23.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:23.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:23.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083223642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:23.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083223642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:23.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083224673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:23.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083224673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:23.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.66, rainFlag=0, windAngle=334.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202306957, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202306951, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:23.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:23.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:24.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97388813, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97388808, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:24.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:24.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:24.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86884193, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86884189, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:24.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:24.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:24.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083225679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:24.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083225679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:24.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083245784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:24.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083245784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:24.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083220990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:24.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083220990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:24.954 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114423502, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114423496, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:24.954 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:24.954 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:24.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.6, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213567914, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:25.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083225284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:25.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083225284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:25.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:25.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:26.034 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336296653, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336296650, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:26.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:20:26.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:20:26.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083227049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:26.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083227049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:26.269 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.18, rainFlag=0, windAngle=274.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93891134, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93891129, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:26.269 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:26.269 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:26.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083226642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:26.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083226642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:26.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:26.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:26.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083227676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:26.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083227676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:27.458 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:27.458 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:27.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88970426, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88970421, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:27.556 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:27.556 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:27.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083228672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:27.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083228672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:27.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083248789, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:27.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083248789","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:27.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083223986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:27.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083223986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:28.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:28.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:28.199 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122207526, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122207521, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:28.200 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:28.200 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:28.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083228285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:28.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083228285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:28.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:28.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:28.478 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21596318, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:28.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:28.968 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:29.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083230044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:29.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083230044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:29.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=340.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202312292, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202312285, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:29.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:29.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:29.329 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97394115, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97394110, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:29.329 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:29.329 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:29.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083229651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:29.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083229651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:29.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86889473, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86889470, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:29.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:29.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:29.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083230673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:29.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083230673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:30.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114428803, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114428798, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:30.255 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:30.255 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:30.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083231679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:30.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083231679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:30.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083251784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:30.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083251784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:30.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083226995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:30.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083226995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:31.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.35, rainFlag=0, windAngle=92.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.3, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:20:31.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:20:31.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:20:31.229 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083230190, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:20:31.229 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083230190","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:20:31.280 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:31.280 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:31.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336301945, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336301941, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:31.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:20:31.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:20:31.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083231283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:31.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083231283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:31.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93896421, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93896418, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:31.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:31.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:32.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083233039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:32.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083233039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:32.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.00, rainFlag=1, windAngle=4.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.28, cell_6Voltage=4.22, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:20:32.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:20:32.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:20:32.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:32.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:32.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083232647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:32.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083232647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:32.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:32.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:32.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213575480, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:32.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083233673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:32.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083233673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:32.860 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88975732, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88975719, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:32.861 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:32.861 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:33.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.00, rainFlag=1, windAngle=67.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:20:33.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:20:33.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:20:33.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:33.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:33.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122212873, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122212869, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:33.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:33.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:33.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083234682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:33.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083234682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:33.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083254787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:33.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083254787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:33.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083229985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:33.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083229985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083234283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083234283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:34.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.29, rainFlag=0, windAngle=4.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202317579, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202317574, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:34.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:34.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:34.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97399418, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97399412, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:34.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:34.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:34.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86894763, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86894760, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:34.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:34.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:35.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083236048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:35.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083236048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:35.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083235650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:35.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083235650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:35.554 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114434106, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114434100, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:35.554 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:35.554 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:35.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083236671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:35.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083236671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:36.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:36.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:36.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21606264, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21603931, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:36.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:20:36.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:20:36.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083237678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:36.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083237678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:36.606 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336307225, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336307221, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:36.606 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:20:36.606 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:20:36.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083257787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:36.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083257787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:36.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:36.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:36.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93901706, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93901701, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:36.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:36.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:36.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083232994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:36.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083232994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:37.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083237280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:37.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083237280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:37.521 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:37.521 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:38.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083239044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:38.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083239044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:38.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:38.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:38.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88981030, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88981025, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:38.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:38.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:38.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:38.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:38.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083238644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:38.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083238644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:38.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083239676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:38.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083239676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:38.828 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122218161, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122218156, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:38.829 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:38.829 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:39.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:39.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:39.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083240679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:39.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083240679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:39.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083260774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:39.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083260774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:39.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.50, rainFlag=0, windAngle=347.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202322882, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202322877, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:39.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:39.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:39.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083235981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:39.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083235981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:40.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213585418, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213583094, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:40.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:20:40.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:20:40.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86900055, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86900051, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:40.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:40.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:40.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083240283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:40.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083240283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:40.788 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97405578, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97405572, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:40.789 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:40.789 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:40.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114439408, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114439402, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:40.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:40.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:41.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.35, rainFlag=0, windAngle=103.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:20:41.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:20:41.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:20:41.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083242039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:41.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083242039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:41.343 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:41.343 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:41.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083241644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:41.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083241644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:41.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083242674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:41.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083242674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:41.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336312515, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336312511, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:41.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:20:41.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:20:42.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93907008, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93907002, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:42.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:42.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:42.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=1, windAngle=241.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:20:42.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:20:42.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:20:42.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:42.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:42.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083243676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:42.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083243676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:42.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:42.611 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:42.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083263780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:42.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083263780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:42.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083238990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:42.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083238990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:43.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=3.00, windSpeed=1.75, rainFlag=1, windAngle=177.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:20:43.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:20:43.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:20:43.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083243280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:43.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083243280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:43.397 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083243405, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:43.397 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083243405","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:43.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88986321, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88986316, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:43.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:43.451 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:43.604 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:43.604 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:43.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21613875, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21611652, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:43.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:20:43.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:20:44.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122223442, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122223439, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:44.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:44.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:44.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083245046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:44.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083245046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:44.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083244648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:44.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083244648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:44.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083245670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:44.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083245670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:45.160 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.77, rainFlag=0, windAngle=348.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202328197, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202328191, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:45.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:45.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:45.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86905346, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86905342, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:45.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:45.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:45.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083246671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:45.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083246671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:45.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083266781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:45.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083266781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:45.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083241993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:45.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083241993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:46.089 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97410878, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.13, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97410873, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:46.089 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:46.089 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:46.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114444755, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114444701, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:46.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:46.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:46.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:46.233 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:46.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083246288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:46.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083246288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:46.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:46.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:47.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083248052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:47.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083248052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:47.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93912299, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93912294, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:47.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:47.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:47.458 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083248184, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:47.459 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083248184","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:47.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083247645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:47.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083247645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:47.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083248667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:47.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083248667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:47.856 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083248497, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:47.856 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083248497","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:47.862 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:47.862 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:47.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213593031, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213590704, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:47.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:20:47.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:20:48.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:48.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:48.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:48.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:48.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083249672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:48.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083249672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:48.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083269783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:48.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083269783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:48.742 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88991612, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88991606, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:48.742 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:48.742 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:48.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083244996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:48.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083244996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:49.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:49.091 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:49.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083249283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:49.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083249283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:49.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122228754, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122228730, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:49.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:49.426 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:50.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083251050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:50.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083251050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:50.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.22, rainFlag=0, windAngle=357.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202333495, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202333491, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:50.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:50.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:50.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083250642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:50.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083250642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:50.787 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86910647, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86910644, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:50.787 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:50.787 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:50.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083251675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:50.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083251675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:50.855 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.09, rainFlag=0, windAngle=245.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336321478, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336321474, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:50.855 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:20:50.856 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:20:50.870 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083251873, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:20:50.870 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083251873","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:20:51.012 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.46, rainFlag=0, windAngle=97.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.29, cell_4Voltage=4.30, cell_6Voltage=4.27, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:20:51.012 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:20:51.012 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:20:51.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21621489, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21619154, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:51.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:20:51.328 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:20:51.390 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97416170, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97416164, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:51.390 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:51.390 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:51.402 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:51.402 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:20:51.505 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114450055, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114450049, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:51.505 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:51.505 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:51.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083252672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:51.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083252672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:51.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083272783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:51.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083272783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:51.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083247988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:51.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083247988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:52.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=324.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:20:52.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:20:52.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:20:52.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083252291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:52.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083252291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:52.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:52.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:20:52.672 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:52.672 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:20:52.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.37, rainFlag=0, windAngle=273.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93917601, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93917595, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:52.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:52.738 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:53.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=3.00, windSpeed=1.01, rainFlag=1, windAngle=155.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:20:53.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:20:53.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:20:53.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083254052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:53.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083254052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:53.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083253656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:53.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083253656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:53.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:53.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:20:53.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083254676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:53.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083254676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:54.032 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=88996902, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=88996897, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:54.032 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:54.032 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:54.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083253867, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:54.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083253867","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:54.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083255670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:54.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083255670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:54.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083275784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:54.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083275784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:54.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122234042, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122234039, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:54.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:20:54.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:20:54.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083250994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:54.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083250994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:55.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083255287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:55.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083255287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:55.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213600644, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213598372, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:55.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:20:55.416 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:20:55.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.94, rainFlag=0, windAngle=5.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202338776, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202338772, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:55.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:20:55.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:20:56.080 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86915949, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86915946, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:56.081 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:20:56.081 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:20:56.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083257052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:56.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083257052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:56.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336326771, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336326767, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:56.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:20:56.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:20:56.305 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:56.305 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:20:56.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083256651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:56.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083256651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:56.692 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97421473, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97421466, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:56.693 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:20:56.693 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:20:56.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114455367, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114455362, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:56.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:20:56.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:20:56.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083257667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:56.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083257667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:20:56.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:56.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:20:57.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083258672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:57.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083258672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:20:57.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083278781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:57.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083278781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:20:57.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083253988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:57.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083253988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:20:57.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:57.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:20:58.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.09, rainFlag=0, windAngle=263.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93922892, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93922887, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:58.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:20:58.027 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:20:58.273 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:58.273 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:20:58.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083258279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:20:58.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083258279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:20:58.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:58.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:20:58.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21629101, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21626775, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:58.941 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:20:58.941 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:20:59.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083260040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:59.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083260040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:20:59.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:59.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:20:59.323 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89002191, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89002187, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:20:59.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:20:59.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:20:59.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083259649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:59.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083259649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:20:59.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083260675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:20:59.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083260675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:00.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122239359, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122239354, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:00.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:00.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:00.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083261682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:00.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083261682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:00.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083281787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:00.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083281787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:00.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083256995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:00.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083256995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:01.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.03, rainFlag=0, windAngle=333.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202344076, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202344072, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:01.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:01.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:01.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.35, rainFlag=0, windAngle=100.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.1, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:21:01.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:21:01.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:21:01.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86921229, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86921226, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:01.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:01.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:01.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083261290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:01.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083261290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:01.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336332072, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336332068, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:01.455 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:01.455 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:01.469 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:01.469 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:02.000 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97426785, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97426780, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:02.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:02.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:02.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114460657, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114460652, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:02.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:02.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:02.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083263040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:02.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083263040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:02.187 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=328.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=14.90, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:21:02.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:21:02.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:21:02.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083262656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:02.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083262656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:02.693 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:02.693 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:02.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:02.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:02.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083263671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:02.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083263671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:03.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213608254, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213605927, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:03.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:21:03.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:21:03.057 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083262017, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:21:03.057 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083262017","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:21:03.304 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.55, rainFlag=1, windAngle=261.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:21:03.304 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:21:03.305 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:21:03.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93928182, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93928177, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:03.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:03.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:03.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083264668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:03.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083264668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:03.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083284782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:03.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083284782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:03.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:03.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:03.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083259992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:03.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083259992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:04.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083264286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:04.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083264286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:04.613 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89007484, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89007479, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:04.613 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:04.614 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:05.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083266050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:05.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083266050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:05.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122244663, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122244657, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:05.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:05.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:05.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083265642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:05.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083265642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:05.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083266673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:05.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083266673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:06.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.57, rainFlag=0, windAngle=327.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202349380, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202349375, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:06.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:06.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:06.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083267670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:06.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083267670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:06.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:06.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:06.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21634378, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:06.652 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86926520, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86926517, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:06.652 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:06.652 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083287786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083287786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:06.744 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336337363, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336337359, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:06.744 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:06.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:06.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083262983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:06.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083262983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:06.956 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:06.956 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:07.291 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=98, chargeTime=97432075, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97432069, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:07.291 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:07.291 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:07.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083267285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:07.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083267285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:07.393 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114465947, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114465942, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:07.393 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:07.393 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:08.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:08.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:08.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083269038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:08.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083269038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:08.337 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:08.337 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:08.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083268644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:08.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083268644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:08.656 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:08.656 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:08.676 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93933541, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93933525, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:08.676 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:08.676 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:08.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083269675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:08.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083269675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:09.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:09.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:09.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083270671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:09.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083270671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:09.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083290782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:09.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083290782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:09.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083265990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:09.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083265990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:09.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89012786, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89012780, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:09.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:09.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:10.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083270290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:10.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083270290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:10.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213613551, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:10.662 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122249963, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122249958, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:10.662 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:10.662 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:11.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.46, rainFlag=0, windAngle=100.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.2, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:21:11.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:21:11.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:21:11.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083272045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:11.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083272045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:11.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083271653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:11.540 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083271653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:11.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:11.541 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:11.641 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.94, rainFlag=0, windAngle=354.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202354682, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202354677, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:11.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:11.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:11.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083272674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:11.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083272674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:11.933 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86931799, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86931796, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:11.933 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:11.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:12.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336342654, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336342651, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:12.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:12.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:12.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=338.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:21:12.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:21:12.259 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:21:12.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97437364, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97437359, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:12.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:12.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:12.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083273683, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:12.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083273683","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:12.697 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114471252, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114471247, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:12.697 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:12.697 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:12.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083293780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:12.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083293780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:12.753 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:12.753 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:12.800 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:12.800 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:12.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083268996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:12.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083268996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:13.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=349.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.50, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:21:13.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:21:13.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:21:13.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083273287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:13.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083273287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:13.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:13.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:13.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93938828, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93938824, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:13.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:13.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:14.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083275038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:14.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083275038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:14.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21642044, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:14.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083274652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:14.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083274652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:14.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083275668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:14.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083275668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:15.124 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083275133, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:15.124 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083275133","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:15.211 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89018078, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89018072, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:15.211 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:15.211 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:15.264 [scheduling-1] INFO c.r.d.s.i.SynService - [updateDevicesScheduled,194] - ========== 开始执行定时任务：同步基础表数据 ========== +13:21:15.267 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,132] - 成功加载 1 个网关设备，共扫描 10 个设备，跳过 0 个空页 +13:21:15.554 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,135] - 没有找到更多网关设备，共扫描 25 个设备，跳过 3 个空页 +13:21:15.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083276669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:15.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083276669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:15.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083296786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:15.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083296786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:15.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083271980, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:15.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083271980","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:15.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122255254, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122255248, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:15.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:15.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:16.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083276278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:16.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083276278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:16.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:16.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:16.940 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.94, rainFlag=0, windAngle=339.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202359974, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202359969, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:16.941 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:16.941 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:17.017 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:17.017 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:17.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083278039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:17.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083278039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:17.218 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86937088, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86937085, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:17.218 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:17.218 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:17.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336347945, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336347941, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:17.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:17.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:17.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083277642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:17.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083277642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:17.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083278662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:17.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083278662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:17.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97442653, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97442651, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:17.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:17.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:18.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114476549, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114476545, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:18.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:18.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:18.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:18.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:18.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213621163, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:18.405 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:18.405 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:18.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083279680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:18.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083279680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:18.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083299775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:18.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083299775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:18.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:18.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:18.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083274984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:18.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083274984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:19.098 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083279824, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:19.098 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083279824","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:19.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93944109, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93944105, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:19.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:19.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:19.291 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:19.291 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:19.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083279288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:19.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083279288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:19.488 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083280130, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:19.488 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083280130","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:20.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083281043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:20.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083281043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:20.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89023379, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89023373, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:20.508 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:20.509 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:20.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083280653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:20.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083280653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:20.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083281662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:20.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083281662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:20.958 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083281956, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:21:20.959 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083281956","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:21:21.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.74, rainFlag=0, windAngle=107.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.1, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:21:21.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:21:21.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:21:21.229 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122260556, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122260551, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:21.229 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:21.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:21.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083282682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:21.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083282682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:21.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:21.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:21.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083302777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:21.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083302777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:21.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21651949, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21649623, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:21.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:21:21.790 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:21:21.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083277988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:21.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083277988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:22.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=327.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:21:22.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:21:22.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:21:22.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.85, rainFlag=0, windAngle=339.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202365286, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202365281, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:22.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:22.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:22.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083282277, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:22.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083282277","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:22.498 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86942368, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86942365, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:22.499 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:22.499 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:22.614 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336353236, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336353233, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:22.615 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:22.615 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:22.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:22.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:22.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:22.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:23.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083284052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:23.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083284052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:23.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97447938, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97447932, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:23.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:23.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:23.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=305.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.3, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:21:23.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:21:23.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:21:23.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114481844, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114481838, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:23.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:23.294 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:23.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083283656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:23.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083283656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:23.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083284672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:23.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083284672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:23.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:23.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:24.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93949396, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93949393, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:24.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:24.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:24.604 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083285680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:24.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083285680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:24.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083305780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:24.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083305780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:24.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083280981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:24.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083280981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:25.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083285286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:25.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083285286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:25.861 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213631092, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213628820, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:25.861 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:21:25.861 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:21:25.863 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89028731, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89028675, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:25.863 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:25.863 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:26.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083287050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:26.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083287050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:26.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083285625, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:26.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083285625","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:26.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083286650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:26.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083286650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:26.626 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122265847, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122265842, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:26.626 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:26.626 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:26.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:26.732 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:26.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083287676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:26.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083287676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:27.086 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:27.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:27.550 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.57, rainFlag=0, windAngle=335.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202370586, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202370582, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:27.550 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:27.551 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:27.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083288682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:27.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083288682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:27.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083308778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:27.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083308778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:27.782 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86947650, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86947647, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:27.782 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:27.782 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:27.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336358527, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336358524, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:27.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:27.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:27.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083283987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:27.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083283987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:28.353 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:28.353 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:28.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083288293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:28.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083288293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:28.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97453229, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97453222, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:28.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:28.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:28.616 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:28.616 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:28.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114487179, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114487175, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:28.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:28.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:28.788 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:28.788 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:29.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083290045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:29.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083290045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:29.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:29.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:29.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21659561, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21657237, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:29.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:21:29.399 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:21:29.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083289649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:29.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083289649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:29.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083290666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:29.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083290666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:29.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93954692, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93954687, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:29.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:29.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:30.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:21:30.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083291675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:30.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083291675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:30.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083311784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:30.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083311784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:30.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083286993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:30.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083286993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:31.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.05, rainFlag=0, windAngle=109.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.32, cell_6Voltage=4.12, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.25, cell_2Voltage=4.29, cell_3Voltage=4.23, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.1, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:21:31.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:21:31.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:21:31.157 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89034027, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89034021, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:31.157 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:31.157 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:31.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083291288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:31.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083291288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:31.662 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:31.662 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:31.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122271137, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122271133, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:31.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:31.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:32.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=351.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:21:32.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:21:32.104 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:21:32.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083293045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:32.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083293045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:32.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083292649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:32.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083292649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:32.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083293667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:32.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083293667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:32.841 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.94, rainFlag=0, windAngle=339.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202375879, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202375874, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:32.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:32.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:32.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:32.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:33.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:33.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:33.131 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86952990, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86952986, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:33.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:33.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:33.193 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336363818, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.7, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336363814, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:33.193 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:33.193 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:33.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.00, rainFlag=1, windAngle=220.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.36, cell_6Voltage=4.39, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:21:33.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:21:33.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:21:33.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213638703, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213636377, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:33.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:21:33.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:21:33.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083294677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:33.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083294677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:33.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083314783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:33.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083314783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:33.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97458520, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97458514, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:33.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:33.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:33.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083289982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:33.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083289982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:33.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:33.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:33.936 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114492492, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114492486, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:33.936 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:33.936 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083294284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:34.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083294284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:34.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083293834, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:21:34.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083293834","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:21:35.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93960000, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93959997, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:35.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:35.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:35.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083296052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:35.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083296052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:35.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083295652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:35.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083295652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:35.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083296670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:35.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083296670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:36.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89039328, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89039323, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:36.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:36.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:36.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083297671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:36.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083297671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:36.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083317785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:36.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083317785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:36.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083292987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:36.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083292987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:37.061 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:37.061 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:37.078 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21667173, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21664847, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:37.078 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:21:37.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:21:37.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122276439, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122276433, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:37.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:37.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:37.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:37.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:37.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083297285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:37.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083297285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:38.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=337.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202381179, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202381175, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:38.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:38.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:38.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083299047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:38.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083299047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:38.416 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86958276, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86958272, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:38.416 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:38.416 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:38.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:38.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:38.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336369097, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336369094, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:38.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:38.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:38.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083298652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:38.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083298652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:38.703 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:38.703 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:38.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083299672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:38.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083299672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:38.850 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:38.850 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:39.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97463820, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97463815, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:39.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:39.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:39.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114497793, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114497787, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:39.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:39.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:39.414 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:39.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:39.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083300671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:39.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083300671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:39.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083320784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:39.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083320784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:39.929 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083295991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:39.929 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083295991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:40.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083300278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:40.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083300278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:40.438 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93965296, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93965291, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:40.438 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:40.438 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:41.085 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213646316, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213643989, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:41.085 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:21:41.085 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:21:41.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=5.00, rainFlag=0, windAngle=100.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.24, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.0, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:21:41.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:21:41.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:21:41.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083302046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:41.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083302046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:41.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083301648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:41.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083301648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:41.796 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:41.796 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:41.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89044677, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89044671, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:41.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:41.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:41.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083302671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:41.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083302671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:42.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=324.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.26, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:21:42.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:21:42.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:21:42.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122281754, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122281725, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:42.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:42.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:42.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083303669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:42.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083303669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:42.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083323780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:42.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083323780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:42.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083298982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:42.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083298982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:43.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:43.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:43.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.27, rainFlag=1, windAngle=170.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:21:43.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:21:43.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:21:43.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:43.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:43.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083303279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:43.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083303279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:43.441 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.29, rainFlag=0, windAngle=297.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202386476, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202386469, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:43.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:43.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:43.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86963566, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86963562, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:43.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:43.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:43.764 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336374388, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336374385, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:43.764 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:43.765 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:43.992 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:43.992 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:44.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083305044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:44.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083305044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:44.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97469123, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97469117, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:44.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:44.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:44.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083304647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:44.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083304647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:44.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114503085, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114503079, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:44.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:44.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:44.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21674785, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21672503, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:44.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:21:44.623 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:21:44.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083305669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:44.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083305669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:45.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083306675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:45.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083306675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:45.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083326779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:45.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083326779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:45.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93970593, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93970590, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:45.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:45.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:45.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083301990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:45.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083301990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:46.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083306283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:46.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083306283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:46.870 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083306877, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:46.870 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083306877","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:47.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89049977, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.3, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89049971, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:47.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:47.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:47.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:47.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:47.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083308050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:47.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083308050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:47.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:47.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:47.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083307654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:47.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083307654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:47.739 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122287066, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122287060, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:47.739 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:47.739 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:47.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083308664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:47.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083308664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:48.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083309673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:48.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083309673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:48.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083329777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:48.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083329777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:48.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.92, rainFlag=0, windAngle=339.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202391776, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202391769, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:48.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:48.743 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:48.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:48.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:48.761 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213653928, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213651611, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:48.761 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:21:48.761 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:21:48.765 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:48.765 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:48.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083304984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:48.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083304984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:48.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:48.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:48.986 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86968846, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86968843, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:48.986 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:48.986 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:49.043 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336379668, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336379666, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:49.043 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:49.043 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:49.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083309289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:49.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083309289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:49.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:49.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:49.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97474425, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97474419, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:49.643 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:49.643 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:49.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114508390, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114508384, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:49.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:49.835 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:50.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083311037, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:50.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083311037","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:50.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083310647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:50.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083310647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:50.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083311449, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:50.722 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083311449","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:50.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083311663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:50.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083311663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:51.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93975889, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93975883, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:51.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:51.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:51.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083312041, roll=0, lon=0, battery=0.9, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.58, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:21:51.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.9","date":"1772083312041","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.58","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:21:51.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.94, rainFlag=0, windAngle=121.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.0, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:21:51.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:21:51.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:21:51.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083311797, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:51.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083311797","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:51.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083312675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:51.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083312675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:51.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083332778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:51.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083332778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:51.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:51.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:21:51.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083307989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:51.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083307989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:52.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=320.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.60, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:21:52.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:21:52.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:21:52.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21680071, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:52.408 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89055278, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89055272, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:52.408 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:52.408 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:52.614 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083312279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:52.614 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083312279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:53.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122292367, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122292362, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:53.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:53.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:53.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:53.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:21:53.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.83, rainFlag=1, windAngle=198.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:21:53.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:21:53.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:21:53.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083314053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:53.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083314053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:53.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:53.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:21:53.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083313642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:53.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083313642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:53.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083314677, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:53.821 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083314677","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:54.040 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.92, rainFlag=0, windAngle=323.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202397076, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202397071, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:54.040 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:54.041 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:54.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:54.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:21:54.276 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=86974137, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86974134, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:54.276 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:54.276 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:54.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336384948, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336384945, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:54.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:54.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:54.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083315678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:54.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083315678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:54.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083335787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:54.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083335787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:54.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083310994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:54.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083310994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:54.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97479713, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97479708, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:54.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:21:54.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:21:55.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114513687, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114513683, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:55.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:21:55.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:21:55.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083315289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:55.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083315289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:56.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083317041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:56.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083317041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:56.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213659257, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:56.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93981180, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93981176, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:56.322 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:21:56.322 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:21:56.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083316641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:56.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083316641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:56.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083317671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:56.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083317671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:57.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:57.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:21:57.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:57.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:21:57.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083318674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:57.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083318674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:21:57.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89060569, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89060563, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:57.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:21:57.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:21:57.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083338783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:57.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083338783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:21:57.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083317351, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:57.905 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083317351","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:57.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083313984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:57.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083313984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:21:58.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083318281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:21:58.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083318281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:21:58.479 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122297658, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122297653, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:58.480 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:21:58.480 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:21:58.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:58.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:21:58.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:58.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:21:58.974 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:58.974 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:21:59.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083320049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:59.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083320049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:21:59.350 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.83, rainFlag=0, windAngle=335.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202402385, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202402381, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:59.350 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:21:59.350 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:21:59.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083319645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:59.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083319645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:21:59.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:59.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:21:59.560 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86979428, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86979425, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:59.560 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:21:59.561 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:21:59.624 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336390239, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336390236, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:21:59.624 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:21:59.625 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:21:59.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083320668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:21:59.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083320668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:21:59.848 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21687693, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:00.227 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97485017, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97485012, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:00.227 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:00.228 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:00.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114518979, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114518973, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:00.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:00.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:00.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083321680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:00.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083321680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:00.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083341787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:00.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083341787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:00.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083316989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:00.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083316989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:01.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.09, rainFlag=0, windAngle=125.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.0, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:22:01.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:22:01.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:22:01.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083321293, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:01.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083321293","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:01.606 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93986471, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93986465, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:01.606 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:01.606 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:01.942 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:01.942 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:02.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083323053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:02.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083323053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:02.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=338.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:22:02.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:22:02.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:22:02.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083322642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:02.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083322642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:02.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083323671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:02.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083323671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:02.989 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89065860, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89065854, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:02.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:02.990 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:03.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:03.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:03.282 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:03.282 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:03.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083324677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:03.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083324677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:03.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122302949, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122302944, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:03.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:03.619 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:03.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083344774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:03.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083344774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:03.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083319988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:03.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083319988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:03.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213666835, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:03.939 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.83, rainFlag=1, windAngle=203.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:22:03.939 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setAirportState,66] - 机巢状态变化: sn=THJSY03A2308234G1J6H, UNKNOWN -> ONLINE +13:22:03.939 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:22:03.939 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setDroneState,51] - 无人机状态变化: sn=THJSY03A2308234G1J6H, UNKNOWN -> POWER_OFF +13:22:03.943 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightServiceImpl - [createFlight,96] - 创建新的飞行记录: deviceSn=THJSY03A2308234G1J6H, flightId=16 +13:22:03.943 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:22:04.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:04.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:04.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083324288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:04.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083324288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:04.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.11, rainFlag=0, windAngle=352.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202407688, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202407685, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:04.646 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:04.646 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:04.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86984755, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86984715, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:04.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:04.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:04.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336395541, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336395537, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:04.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:04.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:05.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083326052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:05.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083326052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:05.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97490308, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97490302, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:05.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:05.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:05.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083325650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:05.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083325650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:05.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114524292, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114524286, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:05.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setAirportState,66] - 机巢状态变化: sn=THJSQ03B2410V9BB2UGY, UNKNOWN -> ONLINE +13:22:05.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:05.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setDroneState,51] - 无人机状态变化: sn=THJSQ03B2410V9BB2UGY, UNKNOWN -> POWER_OFF +13:22:05.749 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightServiceImpl - [createFlight,96] - 创建新的飞行记录: deviceSn=THJSQ03B2410V9BB2UGY, flightId=17 +13:22:05.749 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:05.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083326674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:05.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083326674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:06.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083327669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:06.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083327669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:06.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083325655, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:22:06.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083325655","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:22:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083347787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083347787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:06.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93991762, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93991756, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:06.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:06.897 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:06.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083322993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:06.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083322993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:07.316 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:07.316 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:07.316 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setCoverState,81] - 舱门状态变化: sn=THJSQ03B2309PNRKDVT6, UNKNOWN -> CLOSED +13:22:07.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:07.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:07.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21697624, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21695306, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:07.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:22:07.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:22:07.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083327286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:07.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083327286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:08.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083329041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:08.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083329041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:08.286 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89071159, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89071155, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:08.286 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:08.286 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:08.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083328643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:08.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083328643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:08.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083329672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:08.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083329672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:08.882 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:08.882 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:08.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:08.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:08.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setCoverState,81] - 舱门状态变化: sn=THJSQ03B2410V9BB2UGY, UNKNOWN -> CLOSED +13:22:08.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122308240, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122308235, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:08.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setAirportState,66] - 机巢状态变化: sn=THJSQ03B2410JGNSTBG4, UNKNOWN -> ONLINE +13:22:08.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:08.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setDroneState,51] - 无人机状态变化: sn=THJSQ03B2410JGNSTBG4, UNKNOWN -> POWER_OFF +13:22:08.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightServiceImpl - [createFlight,96] - 创建新的飞行记录: deviceSn=THJSQ03B2410JGNSTBG4, flightId=18 +13:22:08.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:09.039 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:09.039 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:09.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083330680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:09.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083330680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:09.632 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:09.632 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:09.633 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setCoverState,81] - 舱门状态变化: sn=THJSY03A2308YCMFPB11, UNKNOWN -> CLOSED +13:22:09.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083350776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:09.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083350776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:09.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083325989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:09.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083325989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:09.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.92, rainFlag=0, windAngle=327.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202412988, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202412985, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:09.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setAirportState,66] - 机巢状态变化: sn=THJSY03A2308YCMFPB11, UNKNOWN -> ONLINE +13:22:09.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:09.945 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setDroneState,51] - 无人机状态变化: sn=THJSY03A2308YCMFPB11, UNKNOWN -> POWER_OFF +13:22:09.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightServiceImpl - [createFlight,96] - 创建新的飞行记录: deviceSn=THJSY03A2308YCMFPB11, flightId=19 +13:22:09.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:10.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86990054, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86990050, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:10.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:10.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:10.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336400832, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336400829, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:10.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setAirportState,66] - 机巢状态变化: sn=THJSQ03B2309PNRKDVT6, UNKNOWN -> ONLINE +13:22:10.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:10.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setDroneState,51] - 无人机状态变化: sn=THJSQ03B2309PNRKDVT6, UNKNOWN -> POWER_OFF +13:22:10.217 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightServiceImpl - [createFlight,96] - 创建新的飞行记录: deviceSn=THJSQ03B2309PNRKDVT6, flightId=20 +13:22:10.217 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:10.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083330283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:10.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083330283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:10.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97495599, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97495594, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:10.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:10.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:11.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114529594, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114529588, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:11.044 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:11.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:11.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.31, rainFlag=0, windAngle=93.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=78.0, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:22:11.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setAirportState,66] - 机巢状态变化: sn=THJSQ03A2303VSWFTRRF, UNKNOWN -> ONLINE +13:22:11.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:22:11.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setDroneState,51] - 无人机状态变化: sn=THJSQ03A2303VSWFTRRF, UNKNOWN -> POWER_OFF +13:22:11.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightServiceImpl - [createFlight,96] - 创建新的飞行记录: deviceSn=THJSQ03A2303VSWFTRRF, flightId=21 +13:22:11.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:22:11.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083332050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:11.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083332050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:11.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213676764, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213674448, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:11.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:22:11.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:22:11.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083331656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:11.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083331656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:11.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083332670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:11.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083332670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:12.012 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:12.012 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:12.098 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=331.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:22:12.098 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:22:12.098 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:22:12.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=93997053, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=93997047, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:12.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:12.198 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:12.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083333677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:12.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083333677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:12.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083353774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:12.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083353774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:12.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083328985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:12.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083328985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:13.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.74, rainFlag=1, windAngle=174.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.3, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.02}}} +13:22:13.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:22:13.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:22:13.211 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:13.211 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:13.338 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:13.338 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:13.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083333280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:13.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083333280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:13.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89076441, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89076436, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:13.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:13.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:14.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083335044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:14.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083335044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:14.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:14.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:14.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setCoverState,81] - 舱门状态变化: sn=THJSQ03B2410JGNSTBG4, UNKNOWN -> CLOSED +13:22:14.485 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122313575, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122313572, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:14.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:14.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:14.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083334654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:14.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083334654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:14.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083335672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:14.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083335672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:15.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21705237, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21702961, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:15.075 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setAirportState,66] - 机巢状态变化: sn=THJSQ03B2309C00HR8PP, UNKNOWN -> ONLINE +13:22:15.075 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:22:15.075 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setDroneState,51] - 无人机状态变化: sn=THJSQ03B2309C00HR8PP, UNKNOWN -> POWER_OFF +13:22:15.078 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightServiceImpl - [createFlight,96] - 创建新的飞行记录: deviceSn=THJSQ03B2309C00HR8PP, flightId=22 +13:22:15.078 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:22:15.239 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.20, rainFlag=0, windAngle=326.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202418282, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202418277, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:15.240 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:15.240 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:15.465 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=86995333, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=86995330, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:15.465 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:15.465 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:15.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336406122, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336406119, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:15.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:15.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:15.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083336680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:15.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083336680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:15.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083356785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:15.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083356785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:15.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083331985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:15.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083331985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:16.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97500890, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97500885, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:16.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:16.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:16.343 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114534896, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114534891, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:16.343 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:16.343 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:16.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083336287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:16.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083336287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:17.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083338042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:17.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083338042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:17.382 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:17.382 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:17.498 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94002355, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94002349, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:17.498 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:17.498 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:17.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083337655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:17.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083337655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:17.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:17.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:17.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setCoverState,81] - 舱门状态变化: sn=THJSQ03B2309C00HR8PP, UNKNOWN -> CLOSED +13:22:17.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083338663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:17.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083338663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:18.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083339678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:18.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083339678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:18.604 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083338613, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:18.604 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083338613","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:18.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083359783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:18.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083359783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:18.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89081733, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89081726, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:18.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:18.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:18.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083334986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:18.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083334986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:18.974 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:18.974 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:19.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:19.103 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:19.194 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:19.194 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:19.195 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setCoverState,81] - 舱门状态变化: sn=THJSQ03A2306Q5CSWZ75, UNKNOWN -> CLOSED +13:22:19.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213684378, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213682059, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:19.211 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setAirportState,66] - 机巢状态变化: sn=THJSQ03A2306Q5CSWZ75, UNKNOWN -> ONLINE +13:22:19.211 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:22:19.211 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setDroneState,51] - 无人机状态变化: sn=THJSQ03A2306Q5CSWZ75, UNKNOWN -> POWER_OFF +13:22:19.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightServiceImpl - [createFlight,96] - 创建新的飞行记录: deviceSn=THJSQ03A2306Q5CSWZ75, flightId=23 +13:22:19.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:22:19.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122318873, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122318869, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:19.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:19.549 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:19.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083339287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:19.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083339287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:19.702 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:19.702 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:20.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083341049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:20.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083341049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:20.559 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083340654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:20.559 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083340654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:20.572 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.57, rainFlag=0, windAngle=330.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202423583, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202423579, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:20.572 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:20.572 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:20.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87000613, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87000609, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:20.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:20.745 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:20.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336411403, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336411399, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:20.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:20.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:20.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083341676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:20.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083341676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:21.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.16, rainFlag=0, windAngle=98.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.34, cell_4Voltage=4.32, cell_6Voltage=4.12, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.25, cell_2Voltage=4.28, cell_3Voltage=4.23, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:22:21.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:22:21.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:22:21.154 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083342130, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.55, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:22:21.155 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083342130","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.55","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:22:21.401 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97506189, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97506184, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:21.402 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:21.402 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:21.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083342674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:21.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083342674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:21.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114540198, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114540192, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:21.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:21.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:21.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083362783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:21.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083362783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:21.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083337986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:21.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083337986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:22.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:22.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:22.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=326.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.61, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:22:22.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:22:22.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:22:22.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083343042, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:22.317 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083343042","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:22.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083342281, roll=-1.274722, lon=113.1460876, battery=0.9, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.61, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:22.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.9","date":"1772083342281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.61","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:22.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21712850, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21710529, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:22.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:22:22.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:22:22.797 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94007657, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94007652, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:22.797 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:22.797 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:22.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083343467, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:22.826 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083343467","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:23.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083344051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:23.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083344051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:23.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.46, rainFlag=1, windAngle=175.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:22:23.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:22:23.177 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:22:23.281 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:23.281 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:23.393 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:23.393 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:23.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083343641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:23.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083343641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:23.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083344662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:23.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083344662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:24.163 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89087034, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89087028, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:24.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:24.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:24.472 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:24.472 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:24.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083345670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:24.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083345670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:24.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083365779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:24.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083365779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:24.847 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122324180, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122324173, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:24.847 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:24.847 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:24.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083340983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:24.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083340983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:25.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083345279, roll=-1.274722, lon=113.1460876, battery=0.9, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.61, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:25.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.9","date":"1772083345279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.61","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:25.862 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.66, rainFlag=0, windAngle=339.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202428898, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202428892, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:25.863 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:25.863 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:26.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87005896, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87005893, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:26.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:26.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:26.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336416694, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336416690, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:26.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:26.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:26.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083347037, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:26.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083347037","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:26.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083346641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:26.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083346641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:26.703 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97511486, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97511481, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:26.703 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:26.703 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:26.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213691991, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213689725, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:26.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:22:26.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:22:26.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083347669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:26.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083347669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:26.942 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114545489, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114545483, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:26.943 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:26.943 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:27.445 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:27.445 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:27.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083348673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:27.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083348673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:27.632 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:27.632 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:27.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083368787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:27.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083368787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:27.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083343982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:27.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083343982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:28.093 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94012959, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94012953, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:28.094 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:28.094 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:28.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083348290, roll=-1.274722, lon=113.1460876, battery=0.9, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.61, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:28.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.9","date":"1772083348290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.61","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:29.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:29.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:29.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083350046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:29.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083350046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:29.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:29.169 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:29.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:29.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:29.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89092336, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89092330, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:29.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:29.466 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:29.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083349648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:29.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083349648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:29.629 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083349074, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:29.629 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083349074","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:29.764 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:29.764 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:29.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083350665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:29.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083350665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:30.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122329481, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122329475, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:30.160 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:30.160 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:30.301 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21720463, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21718141, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:30.301 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:22:30.301 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:22:30.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083351673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:30.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083351673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:30.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083371781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:30.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083371781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:30.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083346988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:30.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083346988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:31.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.62, rainFlag=0, windAngle=99.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.23, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:22:31.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:22:31.071 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:22:31.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.38, rainFlag=0, windAngle=340.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202434189, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202434184, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:31.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:31.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:31.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87011185, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87011181, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:31.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:31.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:31.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336421984, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336421981, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:31.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:31.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:31.618 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083351288, roll=-1.274722, lon=113.1460876, battery=0.9, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.61, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:31.618 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.9","date":"1772083351288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.61","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:32.007 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97516794, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97516789, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:32.008 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:32.008 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:32.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:32.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:32.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083353039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:32.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083353039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:32.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114550780, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114550774, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:32.236 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:32.236 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:32.350 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.00, rainFlag=1, windAngle=6.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:22:32.350 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:22:32.350 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:22:32.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083352644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:32.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083352644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:32.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083353668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:32.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083353668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:33.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.74, rainFlag=1, windAngle=221.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.35, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=1.43, bCharging=1, capacity=32.00, voltage=26.05}}} +13:22:33.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:22:33.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:22:33.339 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:33.339 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:33.396 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94018261, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.3, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94018255, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:33.396 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:33.396 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:33.459 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:33.459 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:33.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083354677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:33.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083354677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:33.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083374784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:33.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083374784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:33.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083349980, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:33.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083349980","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:34.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083354287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:34.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083354287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:34.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213699604, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213697294, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:34.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:22:34.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:22:34.465 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:34.465 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:34.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89097627, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89097621, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:34.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:34.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:35.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083356047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:35.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083356047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:35.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122334780, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122334776, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:35.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:35.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:35.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083355647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:35.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083355647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:35.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083356666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:35.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083356666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:36.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.48, rainFlag=0, windAngle=329.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202439489, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202439484, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:36.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:36.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:36.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083357674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:36.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083357674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:36.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87016486, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87016483, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:36.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:36.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:36.651 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336427276, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336427272, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:36.651 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:36.652 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:36.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083377790, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:36.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083377790","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:36.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083352985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:36.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083352985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:37.302 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97522086, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97522081, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:37.302 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:37.303 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:37.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083357288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:37.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083357288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:37.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:37.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:37.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114556093, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114556088, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:37.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:37.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:37.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:37.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:37.979 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21725753, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:38.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083359052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:38.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083359052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:38.521 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083357481, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:22:38.521 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083357481","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:22:38.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083358645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:38.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083358645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:38.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94023548, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.3, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94023544, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:38.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:38.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:38.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083359667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:38.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083359667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:39.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:39.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:39.232 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:39.232 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:39.318 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:39.318 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:39.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083360668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:39.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083360668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:39.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083380782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:39.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083380782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:39.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:39.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:39.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083355986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:39.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083355986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:40.047 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89102918, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.2, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89102912, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:40.047 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:40.047 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:40.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083360281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:40.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083360281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:40.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122340072, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122340067, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:40.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:40.740 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:41.043 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.25, rainFlag=0, windAngle=98.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:22:41.043 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:22:41.043 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:22:41.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083362052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:41.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083362052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:41.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083361644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:41.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083361644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:41.741 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.85, rainFlag=0, windAngle=327.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202444778, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202444774, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:41.742 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:41.742 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:41.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083362669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:41.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083362669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:41.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87021788, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87021784, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:41.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:41.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:41.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336432555, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336432551, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:41.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:41.934 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:41.988 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213704894, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:42.122 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=358.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:22:42.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:22:42.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:22:42.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:42.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:42.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97527373, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97527369, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:42.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:42.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:42.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083363685, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:42.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083363685","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:42.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083383789, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:42.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083383789","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:42.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114561394, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114561388, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:42.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:42.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:42.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083358992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:42.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083358992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:43.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.27, rainFlag=1, windAngle=312.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.4, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:22:43.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:22:43.183 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:22:43.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083363292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:43.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083363292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:43.406 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:43.406 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:43.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:43.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:43.976 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94028842, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.3, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94028837, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:43.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:43.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:44.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083365040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:44.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083365040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:44.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:44.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:44.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083364652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:44.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083364652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:44.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083365665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:44.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083365665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:45.348 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89108219, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89108214, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:45.348 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:45.348 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:45.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21733409, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:45.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083366667, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:45.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083366667","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:45.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083386782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:45.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083386782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:45.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:22:45.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083361980, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:45.906 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083361980","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:46.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122345364, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122345358, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:46.039 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:46.039 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:46.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083366282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:46.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083366282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:47.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.75, rainFlag=0, windAngle=325.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202450084, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202450079, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:47.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:47.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:47.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083368038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:47.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083368038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:47.215 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=87027078, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87027075, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:47.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:47.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:47.222 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336437846, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336437843, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:47.222 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:47.222 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:47.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083367646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:47.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083367646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:47.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:47.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:47.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083368670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:47.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083368670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:47.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=98, chargeTime=97532666, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97532661, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:47.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:47.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:48.030 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:48.030 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:48.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114566689, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114566686, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:48.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:48.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:48.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083369670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:48.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083369670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:48.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083389774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:48.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083389774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:48.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083364989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:48.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083364989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:49.154 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:49.154 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:49.315 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:49.315 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:49.334 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94034192, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.3, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94034186, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:49.334 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:49.335 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:49.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083369290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:49.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083369290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:49.646 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:49.646 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:49.662 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213712506, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:49.884 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:49.884 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:50.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083371039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:50.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083371039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:50.313 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083370322, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:50.314 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083370322","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:50.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083370647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:50.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083370647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:50.649 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89113521, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89113515, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:50.650 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:50.650 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:50.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083371676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:50.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083371676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:51.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.88, rainFlag=0, windAngle=101.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:22:51.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:22:51.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:22:51.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083372212, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:22:51.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083372212","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:22:51.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122350673, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122350670, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:51.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:51.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:51.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083372668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:51.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083372668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:51.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083392781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:51.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083392781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:51.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083367981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:51.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083367981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:52.093 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=1, windAngle=248.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:22:52.094 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:22:52.094 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:22:52.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:52.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:22:52.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.94, rainFlag=0, windAngle=344.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202455385, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202455380, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:52.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:52.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:52.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083372284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:52.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083372284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:52.497 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87032367, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87032365, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:52.497 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:52.497 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:52.510 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336443125, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336443122, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:52.510 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:52.510 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:53.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21743299, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21740969, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:53.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:22:53.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:22:53.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083374047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:53.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083374047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:53.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97537953, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97537951, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:53.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:53.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:53.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.00, rainFlag=1, windAngle=120.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.15, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=1.42, bCharging=1, capacity=32.00, voltage=26.03}}} +13:22:53.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:22:53.176 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:22:53.413 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114571971, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114571968, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:53.413 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:53.413 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:53.464 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:53.464 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:22:53.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083373649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:53.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083373649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:53.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:53.592 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:22:53.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083374675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:53.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083374675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:53.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083374652, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:53.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083374652","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:54.484 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083375127, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:54.484 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083375127","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:54.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:54.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:22:54.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083375682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:54.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083375682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:54.668 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94039527, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.3, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94039485, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:54.668 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:54.668 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:22:54.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083395783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:54.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083395783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:54.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083370983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:54.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083370983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:55.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083375291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:55.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083375291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:55.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89118825, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89118819, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:55.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:22:55.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:22:56.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083377050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:56.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083377050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:56.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083376652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:56.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083376652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:56.647 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122355974, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122355970, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:56.647 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:22:56.647 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:22:56.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083377663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:56.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083377663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:57.212 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213722443, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213720159, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:57.212 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:22:57.212 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:22:57.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083378678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:57.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083378678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:22:57.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.94, rainFlag=0, windAngle=358.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202460673, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202460668, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:57.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:22:57.640 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:22:57.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083398784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:57.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083398784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:22:57.778 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87037647, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87037645, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:57.778 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:22:57.778 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:22:57.835 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:57.835 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:22:57.851 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336448466, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336448462, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:57.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:22:57.852 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:22:57.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083373986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:57.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083373986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:22:58.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:58.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:22:58.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083378286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:22:58.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083378286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:22:58.462 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97543250, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97543245, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:58.463 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:22:58.463 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:22:58.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114577267, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114577261, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:58.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:22:58.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:22:59.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083380050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:59.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083380050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:22:59.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:59.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:22:59.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:59.376 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:22:59.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083379641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:59.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083379641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:22:59.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:59.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:22:59.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083380676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:22:59.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083380676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:22:59.949 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:59.949 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:22:59.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94044836, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.3, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94044830, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:22:59.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:22:59.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:00.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083381675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:00.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083381675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:00.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083401784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:00.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083401784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:00.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21750913, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21748589, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:00.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:23:00.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:23:00.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083376989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:00.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083376989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:01.094 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.24, rainFlag=0, windAngle=90.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:23:01.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:23:01.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:23:01.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89124124, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89124119, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:01.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:01.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:01.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083381285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:01.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083381285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:01.381 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083380825, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:01.382 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083380825","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:01.951 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122361280, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122361275, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:01.951 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:01.951 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:02.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083383053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:02.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083383053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:02.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=308.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:23:02.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:23:02.165 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:23:02.338 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:02.338 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:02.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083382641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:02.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083382641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:02.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083383663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:02.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083383663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:02.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.66, rainFlag=0, windAngle=336.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202465975, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202465971, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:02.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:02.933 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:03.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87042929, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87042926, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:03.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:03.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:03.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336453755, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336453749, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:03.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:03.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:03.251 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.09, rainFlag=1, windAngle=195.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:23:03.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:23:03.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:23:03.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083384671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:03.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083384671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:03.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:03.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:03.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083404785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:03.725 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083404785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:03.799 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:03.799 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:03.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97548601, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97548593, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:03.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:03.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:03.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083379994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:03.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083379994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:04.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114582558, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114582552, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:04.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:04.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:04.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083384281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:04.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083384281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:04.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:04.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:04.878 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213730056, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213727739, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:04.879 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:23:04.879 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:23:05.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083386051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:05.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083386051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:05.276 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94050138, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.3, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94050132, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:05.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:05.277 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:05.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083385647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:05.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083385647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:05.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083386674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:05.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083386674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:06.543 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89129416, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89129410, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:06.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:06.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:06.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083387679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:06.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083387679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083407788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:06.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083407788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:06.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083382985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:06.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083382985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:07.248 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122366571, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122366566, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:07.248 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:07.248 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:07.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083387290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:07.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083387290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:07.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:07.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:08.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083389041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:08.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083389041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:08.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.66, rainFlag=0, windAngle=355.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202471266, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202471262, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:08.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:08.231 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:08.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87048231, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87048228, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:08.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:08.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:08.414 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:08.414 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:08.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21758526, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21756201, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:08.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:23:08.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:23:08.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336459055, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336459051, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:08.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:08.432 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:08.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083388652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:08.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083388652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:08.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083389667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:08.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083389667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:09.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97553904, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97553900, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:09.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:09.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:09.341 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:09.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:09.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114587907, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114587901, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:09.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:09.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:09.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:09.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:09.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083390672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:09.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083390672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:09.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083410775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:09.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083410775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:09.777 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:23:09.777 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:23:09.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083385985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:09.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083385985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:10.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:23:10.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:23:10.334 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083389289, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:23:10.334 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083389289","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:23:10.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083390288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:10.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083390288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:10.565 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94055433, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.3, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94055431, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:10.565 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:10.565 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:11.065 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=5.00, rainFlag=0, windAngle=98.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.32, cell_6Voltage=4.12, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.25, cell_2Voltage=4.28, cell_3Voltage=4.24, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:23:11.065 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:23:11.065 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:23:11.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083392047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:11.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083392047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:11.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083391653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:11.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083391653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:11.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083392671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:11.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083392671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:11.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89134732, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89134701, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:11.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:11.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:12.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=274.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:23:12.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:23:12.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:23:12.409 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:12.409 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:12.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213737668, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213735339, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:12.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:23:12.452 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:23:12.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083393676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:12.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083393676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:12.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122371884, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122371878, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:12.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:12.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:12.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083413778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:12.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083413778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:12.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083388985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:12.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083388985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:13.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.18, rainFlag=1, windAngle=198.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.50, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:23:13.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:23:13.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:23:13.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083393280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:13.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083393280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:13.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.57, rainFlag=0, windAngle=331.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202476568, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202476563, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:13.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:13.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:13.655 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.14, cell_6Voltage=4.13, Battery_level=98, chargeTime=87053522, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87053519, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:13.655 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:13.656 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:13.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336464344, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336464341, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:13.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:13.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:13.729 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:13.729 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:13.862 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:13.862 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:14.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083395046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:14.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083395046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:14.419 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97559200, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97559194, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:14.420 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:14.420 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:14.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083394654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:14.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083394654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:14.626 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:14.626 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:14.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114593201, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114593197, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:14.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:14.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:14.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083395666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:14.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083395666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:15.558 [scheduling-1] INFO c.r.d.s.i.SynService - [updateDevicesScheduled,194] - ========== 开始执行定时任务：同步基础表数据 ========== +13:23:15.561 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,132] - 成功加载 1 个网关设备，共扫描 10 个设备，跳过 0 个空页 +13:23:15.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083396674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:15.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083396674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:15.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083416780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:15.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083416780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:15.848 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,135] - 没有找到更多网关设备，共扫描 25 个设备，跳过 3 个空页 +13:23:15.861 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94060729, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.3, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94060725, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:15.861 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:15.861 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:15.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083391984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:15.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083391984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:15.978 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21766138, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21763857, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:15.978 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:23:15.978 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:23:16.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083396287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:16.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083396287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:17.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083398044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:17.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083398044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:17.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89140030, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89140024, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:17.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:17.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:17.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083397646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:17.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083397646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:17.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083398667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:17.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083398667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:17.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122377197, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122377191, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:17.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:17.868 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:17.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:17.952 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:18.482 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:18.482 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:18.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083399676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:18.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083399676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:18.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083419783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:18.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083419783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:18.830 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.29, rainFlag=0, windAngle=342.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202481863, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.6, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202481857, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:18.830 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:18.830 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:18.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083394994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:18.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083394994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:18.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87058802, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87058798, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:18.936 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:18.936 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:19.018 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336469644, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336469642, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:19.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:19.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:19.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083399282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:19.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083399282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:19.412 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:19.412 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:19.495 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:19.495 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:19.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97564502, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97564496, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:19.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:19.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:19.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114598491, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114598488, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:19.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:19.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:20.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:23:20.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:23:20.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:23:20.095 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:23:20.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213745280, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213742969, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:20.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:23:20.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:23:20.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083401046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:20.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083401046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:20.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083400645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:20.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083400645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:20.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083401661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:20.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083401661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:21.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.81, rainFlag=0, windAngle=101.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.22, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.57, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:23:21.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:23:21.038 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:23:21.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94066022, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.3, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94066016, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:21.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:21.156 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:21.283 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083402290, roll=0, lon=0, battery=0.9, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.57, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:23:21.284 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.9","date":"1772083402290","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.57","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:23:21.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083402673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:21.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083402673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:21.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083422784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:21.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083422784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:21.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083397991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:21.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083397991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:22.011 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083402018, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:22.011 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083402018","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:22.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.00, rainFlag=1, windAngle=14.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:23:22.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:23:22.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:23:22.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083402278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:22.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083402278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:22.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:22.486 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:22.502 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89145368, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89145362, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:22.502 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:22.502 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:23.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.37, rainFlag=1, windAngle=286.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:23:23.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:23:23.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:23:23.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083404044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:23.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083404044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:23.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122382498, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122382493, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:23.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:23.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:23.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083403645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:23.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083403645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:23.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21771437, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:23.787 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:23.787 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:23.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083404675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:23.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083404675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:23.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:23.932 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:24.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87064081, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.9, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87064077, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:24.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:24.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:24.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336474936, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336474933, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:24.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:24.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:24.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083405670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:24.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083405670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:24.684 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:24.684 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:24.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083425780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:24.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083425780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:24.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083400985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:24.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083400985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:25.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97569814, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97569809, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:25.029 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:25.030 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:25.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.20, rainFlag=0, windAngle=3.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202488088, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202488083, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:25.046 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:25.046 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:25.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114603772, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114603768, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:25.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:25.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:25.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083405292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:25.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083405292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:25.562 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083406289, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:25.562 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083406289","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:26.102 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083406746, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:26.102 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083406746","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:26.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083407043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:26.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083407043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:26.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94071318, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94071312, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:26.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:26.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:26.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083406645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:26.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083406645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:26.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083407673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:26.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083407673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:27.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083408669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:27.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083408669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:27.660 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213750621, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:27.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083428781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:27.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083428781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:27.794 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89150666, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89150661, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:27.794 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:27.794 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:27.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083403993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:27.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083403993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:28.010 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:28.010 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:28.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083408288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:28.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083408288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:28.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122387789, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122387784, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:28.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:28.552 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:28.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:28.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:29.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083410050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:29.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083410050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:29.479 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:29.479 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:29.494 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87069361, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87069358, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:29.494 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:29.494 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:29.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083409646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:29.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083409646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:29.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:29.559 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:29.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336480218, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336480214, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:29.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:29.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:29.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083410660, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:29.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083410660","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:30.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:23:30.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:23:30.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97575117, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97575111, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:30.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:30.331 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:30.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:23:30.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:23:30.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.74, rainFlag=0, windAngle=20.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202493424, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202493420, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:30.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:30.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:30.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114609078, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114609072, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:30.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:30.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:30.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083411675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:30.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083411675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:30.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083431782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:30.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083431782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:30.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083406984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:30.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083406984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:31.200 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21779038, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:31.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.70, rainFlag=0, windAngle=101.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:23:31.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:23:31.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:23:31.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083411282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:31.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083411282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:31.767 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94076627, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94076621, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:31.767 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:31.767 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:32.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083413043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:32.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083413043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:32.187 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=355.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:23:32.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:23:32.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:23:32.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083412643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:32.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083412643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:32.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:32.542 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:32.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083413668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:32.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083413668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:33.086 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89155957, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89155951, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:33.086 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:33.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:33.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.27, rainFlag=1, windAngle=8.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:23:33.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:23:33.123 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:23:33.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083412634, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:33.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083412634","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:33.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083414682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:33.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083414682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:33.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083434789, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:33.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083434789","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:33.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122393081, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122393075, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:33.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:33.748 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:33.849 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:33.849 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:33.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083409994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:33.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083409994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:33.996 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:33.996 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:34.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083414292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:34.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083414292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:34.744 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:34.744 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:34.776 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87074641, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87074637, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:34.776 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:34.776 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:34.884 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336485508, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336485505, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:34.884 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:34.884 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:35.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083416040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:35.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083416040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:35.329 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213758177, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:35.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083415644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:35.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083415644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:35.621 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97580408, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97580402, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:35.622 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:35.622 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:35.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.64, rainFlag=0, windAngle=358.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202498755, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202498719, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:35.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:35.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:35.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083416670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:35.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083416670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:35.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114614380, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114614374, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:35.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:35.836 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:36.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083417668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:36.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083417668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:36.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083437788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:36.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083437788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:36.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083412979, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:36.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083412979","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:37.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94081927, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94081922, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:37.067 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:37.067 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:37.384 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083417290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:37.384 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083417290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:38.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:38.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:38.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083419053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:38.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083419053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:38.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89161259, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89161254, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:38.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:38.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:38.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083418645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:38.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083418645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:38.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083419670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:38.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083419670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:38.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:38.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:38.889 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21788974, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21786648, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:38.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:23:38.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:23:39.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122398375, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122398369, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:39.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:39.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:39.550 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:39.550 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:39.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083420669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:39.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083420669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:39.629 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:39.629 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:39.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083440784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:39.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083440784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:39.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083415987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:39.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083415987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:40.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87079943, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87079940, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:40.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:40.074 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:40.184 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336490799, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336490796, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:40.184 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:40.184 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:40.217 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:23:40.217 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:23:40.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083420282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:40.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083420282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:40.439 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:23:40.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:23:40.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97585698, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97585692, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:40.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:40.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:41.020 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.29, rainFlag=0, windAngle=2.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202504056, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202504052, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:41.020 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:41.020 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:41.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.90, rainFlag=0, windAngle=101.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:23:41.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:23:41.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:23:41.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114619688, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114619685, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:41.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:41.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:41.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083422047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:41.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083422047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:41.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083421644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:41.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083421644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:41.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083422672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:41.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083422672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:42.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083421073, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:23:42.114 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083421073","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:23:42.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.00, rainFlag=1, windAngle=53.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:23:42.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:23:42.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:23:42.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94087219, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94087214, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:42.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:42.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:42.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083423670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:42.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083423670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:42.606 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:42.606 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:42.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083443780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:42.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083443780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:42.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213768120, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213765801, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:42.887 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:23:42.887 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:23:42.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083418992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:42.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083418992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:43.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.00, rainFlag=1, windAngle=51.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.02}}} +13:23:43.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:23:43.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:23:43.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083423290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:43.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083423290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:43.699 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89166571, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89166565, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:43.699 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:43.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:43.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:43.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:44.065 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:44.065 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:44.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083425048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:44.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083425048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:44.482 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122403674, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122403668, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:44.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:44.483 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:44.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083424656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:44.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083424656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:44.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083425670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:44.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083425670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:44.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:44.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:45.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87085223, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87085220, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:45.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:45.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:45.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336496090, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336496087, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:45.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:45.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:45.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083426668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:45.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083426668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:45.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083446782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:45.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083446782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:45.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083421995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:45.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083421995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:46.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97590988, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97590982, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:46.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:46.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:46.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.20, rainFlag=0, windAngle=337.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202509361, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202509356, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:46.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:46.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:46.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083426284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:46.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083426284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:46.424 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21796586, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21794337, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:46.424 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:23:46.424 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:23:46.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114624984, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114624979, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:46.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:46.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:47.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083428050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:47.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083428050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:47.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083427655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:47.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083427655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:47.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94092534, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94092515, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:47.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:47.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:47.803 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083428660, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:47.803 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083428660","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:48.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:48.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:48.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083429677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:48.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083429677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:48.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083449776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:48.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083449776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:48.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083424984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:48.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083424984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:48.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:48.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:48.994 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89171865, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89171858, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:48.994 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:48.994 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:49.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083429282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:49.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083429282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:49.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:49.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:49.650 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122408976, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122408970, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:49.650 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:49.650 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:49.701 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:49.701 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:50.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083431048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:50.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083431048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:50.499 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:23:50.499 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:23:50.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083430657, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:50.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083430657","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:50.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:23:50.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:23:50.564 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213775732, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.5, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213773401, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:50.565 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:23:50.565 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:23:50.635 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87090503, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87090499, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:50.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:50.636 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:50.764 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336501380, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336501377, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:50.764 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:50.764 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:50.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083431665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:50.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083431665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:51.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=5.00, rainFlag=0, windAngle=98.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.70}}} +13:23:51.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:23:51.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:23:51.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083432364, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:23:51.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083432364","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:23:51.491 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97596279, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97596273, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:51.492 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:51.492 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:51.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083432682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:51.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083432682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:51.616 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.11, rainFlag=0, windAngle=338.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202514659, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202514656, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:51.616 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:51.616 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:51.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083452783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:51.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083452783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:51.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114630285, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114630280, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:51.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:51.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:51.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083427984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:51.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083427984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:52.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=323.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:23:52.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:23:52.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:23:52.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083432277, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:52.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083432277","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:52.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:52.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:23:52.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94097832, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94097828, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:52.965 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:52.965 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:53.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=274.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.35, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.50, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:23:53.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:23:53.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:23:53.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083434037, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:53.132 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083434037","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:53.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083433655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:53.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083433655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:53.770 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083433779, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:53.771 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083433779","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:53.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083434674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:53.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083434674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:53.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:53.965 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:23:54.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21804197, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21801861, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:54.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:23:54.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:23:54.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:54.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:23:54.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89177165, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89177159, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:54.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:54.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:54.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083435669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:54.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083435669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:54.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083455777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:54.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083455777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:54.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083430993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:54.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083430993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:54.982 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:54.982 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:23:55.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122414325, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122414318, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:55.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:23:55.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:23:55.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083435280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:55.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083435280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:55.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87095793, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87095790, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:55.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:23:55.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:23:56.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336506671, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336506668, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:56.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:23:56.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:23:56.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083437052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:56.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083437052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:56.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083436653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:56.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083436653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:56.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97601567, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.9, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97601563, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:56.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:23:56.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:23:56.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083437676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:56.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083437676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:56.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.11, rainFlag=0, windAngle=6.50}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202519952, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202519948, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:56.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:23:56.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:23:57.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114635584, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114635579, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:57.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:23:57.036 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:23:57.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083437888, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:57.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083437888","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:57.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083438679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:57.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083438679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:23:57.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083458789, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:57.720 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083458789","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:23:57.783 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083438427, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:57.783 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083438427","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:23:57.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083433982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:57.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083433982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:23:58.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213783345, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213781079, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:58.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:23:58.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:23:58.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:58.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:23:58.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94103114, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94103108, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:58.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:23:58.258 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:23:58.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083438285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:23:58.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083438285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:23:59.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:59.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:23:59.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083440040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:59.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083440040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:23:59.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083439651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:59.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083439651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:23:59.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89182465, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89182461, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:23:59.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:23:59.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:23:59.686 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:59.686 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:23:59.770 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:59.771 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:23:59.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083440661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:23:59.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083440661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:00.470 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122419623, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122419618, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:00.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:00.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:00.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:00.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:00.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083441671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:00.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083441671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:00.622 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:00.622 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:00.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083461786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:00.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083461786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:00.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083436988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:00.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083436988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:01.032 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.14, rainFlag=0, windAngle=106.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.34, cell_4Voltage=4.32, cell_6Voltage=4.13, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.25, cell_2Voltage=4.28, cell_3Voltage=4.24, totalVoltage=25.56, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.6, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:24:01.033 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:24:01.033 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:24:01.157 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:24:01.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87101084, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87101081, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:01.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:01.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:01.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336511962, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336511959, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:01.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:01.344 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:01.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083441280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:01.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083441280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:01.648 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21811810, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21809495, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:01.649 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:24:01.649 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:24:02.083 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97606862, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97606856, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:02.084 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:02.084 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:02.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083443042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:02.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083443042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:02.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.66, rainFlag=0, windAngle=32.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202525246, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202525240, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:02.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:02.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:02.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=320.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:24:02.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:24:02.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:24:02.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114640878, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114640873, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:02.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:02.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:02.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083442643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:02.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083442643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:02.744 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:02.744 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:02.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083443670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:02.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083443670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:03.311 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.83, rainFlag=1, windAngle=1.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.05}}} +13:24:03.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:24:03.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:24:03.546 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94108411, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94108407, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:03.546 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:03.547 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:03.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083444670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:03.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083444670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:03.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083464782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:03.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083464782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:03.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083439985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:03.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083439985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:04.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:04.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:04.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:04.203 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:04.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083444279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:04.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083444279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:04.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083444332, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:04.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083444332","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:04.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89187766, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89187762, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:04.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:04.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:05.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:05.050 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:05.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083446040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:05.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083446040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:05.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083445655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:05.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083445655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:05.600 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122424926, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122424920, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:05.600 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:05.600 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:05.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213790960, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213788637, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:05.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:24:05.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:24:05.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083446674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:05.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083446674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:06.516 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87106375, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87106371, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:06.516 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:06.516 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:06.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083447674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:06.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083447674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:06.634 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336517254, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.8, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336517250, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:06.634 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:06.634 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:06.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083467784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:06.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083467784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:06.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083442986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:06.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083442986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:07.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97612151, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97612146, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:07.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:07.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:07.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083447290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:07.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083447290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:07.500 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=0.00, windSpeed=1.11, rainFlag=0, windAngle=9.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202530534, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202530529, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:07.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:07.501 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:07.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114646180, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114646174, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:07.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:07.637 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:08.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083449040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:08.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083449040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:08.244 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:08.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:08.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083448649, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:08.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083448649","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:08.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083449672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:08.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083449672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:08.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94113706, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94113700, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:08.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:08.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:09.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:09.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:09.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21817094, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:09.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083450680, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:09.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083450680","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:09.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083470775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:09.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083470775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:09.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:24:09.757 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:24:09.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:24:09.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:24:09.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083445982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:09.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083445982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:10.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89193070, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89193064, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:10.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:10.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:10.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083450282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:10.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083450282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:10.641 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:10.641 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:10.684 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:10.685 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:10.898 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122430228, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122430222, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:10.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:10.899 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:11.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.42, rainFlag=0, windAngle=107.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.31, cell_6Voltage=4.21, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.56, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:24:11.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:24:11.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:24:11.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083452049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:11.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083452049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:11.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083451653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:11.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083451653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:11.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083452669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:11.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083452669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:11.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87111677, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87111674, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:11.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:11.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:11.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336522545, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336522541, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:11.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:11.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:12.182 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=299.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:24:12.182 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:24:12.182 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:24:12.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083453676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:12.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083453676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:12.659 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97617443, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97617438, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:12.659 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:12.659 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:12.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083473778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:12.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083473778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:12.801 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.83, rainFlag=0, windAngle=55.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202535838, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202535833, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:12.801 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:12.801 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:12.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:12.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:12.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083448994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:12.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083448994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:12.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114651477, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114651473, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:12.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:12.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:13.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.37, rainFlag=1, windAngle=176.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:24:13.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:24:13.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:24:13.342 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213796270, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:13.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083453292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:13.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083453292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:13.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083452886, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:24:13.926 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083452886","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:24:14.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:14.087 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:14.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94118997, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94118991, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:14.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:14.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:14.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083455043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:14.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083455043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:14.268 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:14.268 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:14.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083454651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:14.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083454651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:14.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083455673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:14.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083455673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:15.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:15.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:15.490 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89198362, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89198356, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:15.490 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:15.490 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:15.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083456672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:15.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083456672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:15.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083476782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:15.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083476782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:15.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083451987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:15.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083451987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:16.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122435530, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122435524, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:16.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:16.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:16.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083456284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:16.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083456284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:16.871 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21824763, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:17.115 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87116979, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87116975, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:17.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:17.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:17.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083458047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:17.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083458047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:17.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336527824, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336527821, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:17.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:17.204 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:17.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083457646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:17.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083457646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:17.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083458674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:17.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083458674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:17.949 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97622735, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97622729, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:17.949 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:17.949 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:18.100 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.46, rainFlag=0, windAngle=74.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202541138, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202541133, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:18.100 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:18.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:18.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114656773, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114656768, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:18.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:18.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:18.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:18.312 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:18.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083459677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:18.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083459677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:18.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083479788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:18.718 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083479788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:18.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083454998, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:18.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083454998","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:19.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083459282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:19.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083459282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:19.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:19.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:19.427 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94124289, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94124283, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:19.427 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:19.427 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:19.829 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:24:19.829 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:24:19.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:24:19.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:24:20.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083461045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:20.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083461045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:20.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083460656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:20.539 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083460656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:20.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:20.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:20.791 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89203664, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89203658, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:20.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:20.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:20.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083461672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:20.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083461672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:21.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:21.002 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:21.018 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213803860, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:21.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.42, rainFlag=0, windAngle=109.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.6, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:24:21.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:24:21.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:24:21.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083462436, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:24:21.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083462436","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:24:21.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122440819, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122440814, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:21.490 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:21.490 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:21.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083462677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:21.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083462677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:21.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083482787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:21.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083482787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:21.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083457982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:21.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083457982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:22.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=321.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:24:22.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:24:22.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:24:22.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083462284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:22.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083462284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:22.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87122257, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87122254, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:22.395 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:22.396 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:22.493 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336533115, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336533112, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:22.494 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:22.494 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:22.880 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:22.880 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:23.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.18, rainFlag=1, windAngle=246.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:24:23.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:24:23.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:24:23.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083464047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:23.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083464047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:23.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97628036, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97628030, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:23.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:23.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:23.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.27, rainFlag=0, windAngle=74.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202546441, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202546437, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:23.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:23.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:23.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114662075, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114662070, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:23.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:23.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:23.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083463652, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:23.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083463652","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:23.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083464667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:23.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083464667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:24.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:24.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:24.339 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:24.339 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:24.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21834647, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21832308, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:24.487 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:24:24.488 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:24:24.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083465679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:24.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083465679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:24.704 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083485776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:24.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083485776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:24.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94129590, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94129584, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:24.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:24.726 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:24.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083460991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:24.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083460991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:25.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:25.174 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:25.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083465292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:25.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083465292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:25.491 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083465499, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:25.491 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083465499","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:26.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89208954, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89208949, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:26.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:26.092 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:26.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083467047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:26.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083467047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:26.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083466645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:26.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083466645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:26.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122446108, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122446104, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:26.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:26.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:26.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083467665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:26.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083467665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:27.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083468670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:27.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083468670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:27.677 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87127548, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87127545, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:27.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:27.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:27.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083488777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:27.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083488777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:27.773 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336538395, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336538392, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:27.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:27.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:27.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083463996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:27.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083463996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:28.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083468284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:28.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083468284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:28.381 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:28.381 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:28.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97633323, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97633320, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:28.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:28.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:28.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213813799, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213811526, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:28.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:24:28.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:24:28.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.18, rainFlag=0, windAngle=74.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202551754, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202551738, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:28.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:28.721 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:28.780 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083469508, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:28.781 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083469508","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:28.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114667377, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114667371, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:28.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:28.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:29.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083470041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:29.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083470041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:29.419 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:29.419 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:29.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083470097, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:29.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083470097","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:29.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083469644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:29.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083469644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:29.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083470673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:29.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083470673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:29.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:24:29.894 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:24:30.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:24:30.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:24:30.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94134928, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94134922, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:30.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:30.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:30.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083471669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:30.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083471669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:30.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083491777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:30.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083491777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:30.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:30.766 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:30.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083466990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:30.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083466990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:31.062 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:31.062 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:31.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.62, rainFlag=0, windAngle=100.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.6, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:24:31.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:24:31.263 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:24:31.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083471279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:31.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083471279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:31.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89214245, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89214239, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:31.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:31.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:32.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122451400, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122451395, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:32.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:32.068 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:32.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21842259, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21839931, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:32.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:24:32.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:24:32.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083473042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:32.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083473042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:32.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=289.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.25, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:24:32.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:24:32.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:24:32.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083472656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:32.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083472656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:32.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083473670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:32.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083473670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:32.951 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:32.951 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:32.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87132843, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87132839, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:32.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:32.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:33.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336543686, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336543682, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:33.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:33.064 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:33.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.46, rainFlag=1, windAngle=206.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.2}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:24:33.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:24:33.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:24:33.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083474678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:33.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083474678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:33.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083494780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:33.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083494780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:33.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97638603, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97638599, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:33.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:33.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:33.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083469998, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:33.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083469998","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:34.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=1.00, windSpeed=0.00, rainFlag=0, windAngle=74.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202557056, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202557051, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:34.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:34.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:34.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114672678, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114672673, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:34.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:34.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:34.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:34.208 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:34.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083474286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:34.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083474286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:34.394 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:34.394 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:35.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083476046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:35.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083476046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:35.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:35.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:35.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94140227, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94140222, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:35.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:35.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:35.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083475644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:35.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083475644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:35.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083476672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:35.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083476672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:36.194 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213821412, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213819094, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:36.194 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:24:36.194 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:24:36.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083477671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:36.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083477671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:36.642 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083476087, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:36.643 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083476087","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:36.676 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89219547, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89219541, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:36.676 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:36.676 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:36.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083497781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:36.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083497781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:36.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083472991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:36.935 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083472991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:37.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083477280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:37.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083477280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:37.377 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122456702, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122456696, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:37.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:37.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:38.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083479045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:38.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083479045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:38.262 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87138131, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87138127, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:38.262 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:38.262 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:38.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336548976, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336548973, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:38.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:38.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:38.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:38.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:38.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083478642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:38.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083478642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:38.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083479675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:38.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083479675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:39.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97643898, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97643892, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:39.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:39.110 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:39.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.09, rainFlag=0, windAngle=29.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202562359, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202562353, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:39.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:39.324 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:39.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114677986, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114677983, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:39.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:39.429 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:39.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083480674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:39.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083480674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:39.704 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083500775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:39.704 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083500775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:39.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:39.758 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:39.775 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21849871, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21847532, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:39.775 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:24:39.775 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:24:39.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083475991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:39.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083475991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:39.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:24:39.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:24:40.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:24:40.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:24:40.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083480280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:40.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083480280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:40.666 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94145526, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94145512, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:40.666 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:40.666 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:40.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:40.839 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:41.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.31, rainFlag=0, windAngle=109.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.5, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:24:41.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:24:41.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:24:41.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:41.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:41.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083482049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:41.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083482049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:41.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083481641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:41.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083481641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:41.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083482670, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:41.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083482670","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:41.976 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89224849, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89224844, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:41.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:41.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:42.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.00, rainFlag=1, windAngle=12.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.25, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.1, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:24:42.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:24:42.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:24:42.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083483672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:42.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083483672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:42.677 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122462005, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122461999, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:42.677 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:42.677 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:42.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083503781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:42.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083503781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:42.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083478980, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:42.908 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083478980","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:43.018 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:43.018 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:43.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.83, rainFlag=1, windAngle=170.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.15, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:24:43.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:24:43.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:24:43.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083483288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:43.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083483288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:43.553 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87143422, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87143418, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:43.553 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:43.553 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:43.634 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336554257, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336554253, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:43.634 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:43.634 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:43.795 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213829025, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213826696, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:43.795 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:24:43.795 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:24:44.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083485044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:44.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083485044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:44.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:44.264 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:44.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:44.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:44.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97649194, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.7, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97649191, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:44.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:44.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:44.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083484644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:44.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083484644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:44.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.46, rainFlag=0, windAngle=320.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202567650, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202567644, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:44.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:44.612 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:44.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114683269, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114683265, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:44.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:44.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:44.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083485675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:44.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083485675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:45.315 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:45.315 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:45.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083486669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:45.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083486669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:45.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083506777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:45.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083506777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:45.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083484696, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.15, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:24:45.737 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083484696","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.15","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:24:45.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083481995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:45.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083481995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:45.963 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94150830, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94150825, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:45.963 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:45.964 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:46.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083486284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:46.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083486284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:47.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083488048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:47.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083488048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:47.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89230139, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89230134, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:47.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:47.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:47.320 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21857484, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21855210, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:47.320 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:24:47.320 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:24:47.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083487648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:47.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083487648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:47.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083488671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:47.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083488671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:47.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122467291, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122467287, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:47.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:47.970 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:48.495 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:48.495 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:48.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083489683, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:48.591 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083489683","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:48.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083509782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:48.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083509782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:48.835 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87148702, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87148698, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:48.835 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:48.835 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:48.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083484985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:48.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083484985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:48.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336559546, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336559543, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:48.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:48.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:49.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083489291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:49.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083489291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:49.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:49.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:49.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.38, rainFlag=0, windAngle=341.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202572950, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202572945, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:49.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:49.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:50.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:24:50.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:24:50.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114688608, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114688602, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:50.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:50.090 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:50.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083491045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:50.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083491045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:50.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:24:50.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:24:50.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083490646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:50.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083490646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:50.780 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97655569, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97655562, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:50.781 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:50.781 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:50.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083491666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:50.809 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083491666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:50.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:50.901 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:24:51.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.27, rainFlag=0, windAngle=111.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.32, cell_6Voltage=4.14, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.25, cell_2Voltage=4.28, cell_3Voltage=4.23, totalVoltage=25.57, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.5, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:24:51.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:24:51.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:24:51.278 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94156133, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94156127, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:51.278 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:51.278 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:51.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:51.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:24:51.470 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213836639, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213834330, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:51.470 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:24:51.470 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:24:51.503 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083492508, roll=0, lon=0, battery=0.9, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.57, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:24:51.503 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.9","date":"1772083492508","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.57","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:24:51.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083492672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:51.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083492672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:51.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083512779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:51.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083512779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:51.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083487996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:51.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083487996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:52.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=309.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:24:52.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:24:52.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:24:52.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083492279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:52.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083492279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:52.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89235431, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89235425, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:52.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:52.559 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:53.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083494049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:53.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083494049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:53.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.27, rainFlag=1, windAngle=145.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:24:53.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:24:53.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:24:53.268 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122472598, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122472592, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:53.268 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:53.268 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:53.418 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:53.418 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:24:53.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083493650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:53.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083493650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:53.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083494668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:53.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083494668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:54.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87153993, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87153989, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:54.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:54.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:54.211 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336564837, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336564835, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:54.212 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:54.212 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:54.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:54.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:24:54.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:54.522 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:24:54.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083495668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:54.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083495668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:54.703 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083515773, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:54.703 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083515773","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:54.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083490993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:54.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083490993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:54.946 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21862767, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:55.200 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.57, rainFlag=0, windAngle=341.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202578239, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202578234, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:55.200 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:24:55.200 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:24:55.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114693905, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114693900, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:55.355 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:24:55.355 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:24:55.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083495279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:55.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083495279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:55.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:55.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:24:56.081 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97660859, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97660854, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:56.081 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:24:56.081 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:24:56.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083497048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:56.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083497048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:56.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083496655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:56.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083496655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:56.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94161427, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94161425, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:56.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:24:56.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:24:56.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083497667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:56.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083497667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:57.236 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083497244, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:57.236 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083497244","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:57.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083498682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:57.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083498682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:24:57.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083518776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:57.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083518776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:24:57.859 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89240732, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89240726, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:57.860 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:24:57.860 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:24:57.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083493981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:57.909 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083493981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:24:58.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083498288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:24:58.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083498288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:24:58.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:58.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:24:58.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122477884, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122477881, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:58.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:24:58.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:24:59.022 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213841974, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:59.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083500046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:59.164 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083500046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:24:59.404 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87159273, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87159269, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:59.404 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:24:59.404 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:24:59.494 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336570118, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336570115, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:24:59.494 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:24:59.494 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:24:59.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083499655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:59.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083499655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:24:59.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083500663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:24:59.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083500663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:24:59.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:24:59.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:00.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:00.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:00.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:00.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:00.393 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083501120, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:00.393 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083501120","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:00.499 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.22, rainFlag=0, windAngle=342.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202583542, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.3, innerTemp=24.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202583538, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:00.500 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:00.500 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:00.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083501668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:00.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083501668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:00.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114699210, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114699204, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:00.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:00.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:00.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083521775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:00.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083521775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:00.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083496983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:00.911 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083496983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:00.973 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:00.974 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:01.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083501714, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:01.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083501714","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:01.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.53, rainFlag=0, windAngle=103.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.22, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.56, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:25:01.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:25:01.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:25:01.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083501286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:01.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083501286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:01.382 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97666161, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97666156, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:01.382 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:01.382 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:01.518 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:01.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:01.859 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94166726, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.4, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94166720, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:01.859 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:01.859 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:02.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083503045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:02.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083503045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:02.248 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=302.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.61, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:25:02.248 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:25:02.248 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:25:02.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083502641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:02.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083502641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:02.558 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21870401, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:02.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083503671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:02.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083503671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:03.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:03.188 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:03.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89246069, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89246064, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:03.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:03.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:03.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.83, rainFlag=1, windAngle=171.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:25:03.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:25:03.309 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:25:03.574 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083504667, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:03.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083504667","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:03.704 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083524774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:03.704 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083524774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:03.857 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122483190, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122483185, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:03.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:03.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:03.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083499995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:03.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083499995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:04.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083504285, roll=-1.274722, lon=113.1460876, battery=0.9, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.61, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:04.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.9","date":"1772083504285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.61","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:04.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:04.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:04.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:04.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:04.685 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87164553, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87164549, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:04.686 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:04.686 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:04.773 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336575398, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336575394, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:04.773 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:04.774 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:05.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083506041, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:05.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083506041","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:05.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:05.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:05.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083505642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:05.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083505642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:05.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.85, rainFlag=0, windAngle=341.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202588845, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202588841, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:05.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:05.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:05.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083506671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:05.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083506671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:05.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114704522, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114704516, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:05.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:05.975 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:06.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083507677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:06.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083507677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:06.644 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213849550, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:06.679 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97671463, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97671458, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:06.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:06.680 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:06.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083527784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:06.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083527784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:06.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083502989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:06.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083502989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:07.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94172019, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94172012, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:07.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:07.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:07.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083507278, roll=-1.274722, lon=113.1460876, battery=0.9, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.61, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:07.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.9","date":"1772083507278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.61","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:08.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083509051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:08.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083509051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:08.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89251369, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89251363, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:08.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:08.496 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:08.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083507868, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:08.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083507868","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:08.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083508644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:08.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083508644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:08.622 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:08.622 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:08.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083509674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:08.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083509674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:09.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122488482, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122488476, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:09.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:09.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:09.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083510672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:09.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083510672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:09.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083530786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:09.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083530786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:09.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083505992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:09.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083505992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:09.962 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87169832, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87169828, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:09.963 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:09.963 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:10.054 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336580678, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336580675, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:10.054 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:10.054 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:10.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:10.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:10.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:10.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:10.239 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21880336, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21878003, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:10.239 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:25:10.239 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:25:10.303 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:10.303 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:10.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083510283, roll=-1.274722, lon=113.1460876, battery=0.9, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.61, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:10.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.9","date":"1772083510283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.61","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:11.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083512045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:11.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083512045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:11.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:11.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:11.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=2.00, windSpeed=0.27, rainFlag=0, windAngle=119.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.31, cell_4Voltage=4.32, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:25:11.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:25:11.158 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:25:11.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.20, rainFlag=0, windAngle=345.00}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202594193, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202594188, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:11.189 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:11.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:11.274 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114709824, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114709818, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:11.274 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:11.274 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:11.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083511651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:11.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083511651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:11.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:11.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:11.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083512668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:11.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083512668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:11.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97676760, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97676756, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:11.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:11.977 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:12.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=287.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:25:12.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:25:12.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:25:12.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94177318, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94177312, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:12.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:12.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:12.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083513672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:12.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083513672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:12.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083533787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:12.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083533787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:12.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083508988, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:12.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083508988","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:13.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=1.29, rainFlag=1, windAngle=188.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.35, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:25:13.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:25:13.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:25:13.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:13.256 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:13.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083513278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:13.359 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083513278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:13.782 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89256655, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89256651, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:13.782 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:13.782 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:14.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083515047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:14.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083515047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:14.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213859477, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213857141, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:14.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:25:14.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:25:14.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:14.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:14.509 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122493783, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122493776, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:14.509 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:14.509 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:14.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083514644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:14.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083514644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:14.649 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:14.649 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:14.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083515662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:14.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083515662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:15.245 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87175113, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87175109, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:15.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:15.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:15.353 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336585969, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336585966, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:15.353 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:15.354 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:15.511 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:15.511 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:15.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083516682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:15.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083516682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:15.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083536778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:15.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083536778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:15.851 [scheduling-1] INFO c.r.d.s.i.SynService - [updateDevicesScheduled,194] - ========== 开始执行定时任务：同步基础表数据 ========== +13:25:15.855 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,132] - 成功加载 1 个网关设备，共扫描 10 个设备，跳过 0 个空页 +13:25:15.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083511987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:15.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083511987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:16.187 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,135] - 没有找到更多网关设备，共扫描 25 个设备，跳过 3 个空页 +13:25:16.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083516289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:16.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083516289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:16.449 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.01, rainFlag=0, windAngle=332.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202599491, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202599487, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:16.450 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:16.450 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:16.469 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:25:16.469 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.s.MachineStateManager - [setAirportState,66] - 机巢状态变化: sn=THJSY03A2308VCSG6Y9H, UNKNOWN -> ONLINE +13:25:16.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114715124, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114715118, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:16.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:16.573 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:17.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083518045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:17.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083518045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:17.272 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97682065, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97682061, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:17.273 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:17.273 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:17.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083517643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:17.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083517643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:17.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083516543, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:25:17.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083516543","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:25:17.756 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94182619, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94182615, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:17.756 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:17.756 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:17.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21887949, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21885669, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:17.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:25:17.786 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:25:17.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083518675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:17.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083518675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:18.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083519677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:18.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083519677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:18.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:18.678 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:18.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083539778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:18.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083539778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:18.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083514991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:18.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083514991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:19.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89261951, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89261945, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:19.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:19.079 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:19.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083519291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:19.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083519291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:19.752 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122499085, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122499080, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:19.752 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:19.752 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:20.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083521044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:20.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083521044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:20.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:20.246 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:20.291 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:20.291 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:20.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:20.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:20.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083520644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:20.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083520644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:20.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87180404, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87180400, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:20.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:20.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:20.654 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336591271, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336591268, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:20.655 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:20.655 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:20.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083521666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:20.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083521666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:21.028 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.24, rainFlag=0, windAngle=96.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:25:21.028 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:25:21.028 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:25:21.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:21.202 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:21.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083522588, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:25:21.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083522588","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:25:21.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083522681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:21.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083522681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:21.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083542786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:21.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083542786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:21.750 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.12, rainFlag=0, windAngle=341.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202604784, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202604779, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:21.750 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:21.750 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:21.876 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114720428, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114720422, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:21.876 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:21.876 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:21.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:21.904 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:21.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213867090, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213864765, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:21.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:25:21.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:25:21.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083517996, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:21.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083517996","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:22.200 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=1, windAngle=227.00}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.28, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:25:22.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:25:22.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:25:22.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083522283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:22.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083522283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:22.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97687366, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97687363, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:22.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:22.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:23.055 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94187922, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94187917, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:23.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:23.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:23.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083524044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:23.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083524044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:23.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=2.31, rainFlag=1, windAngle=198.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:25:23.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:25:23.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:25:23.316 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:23.316 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:23.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083523651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:23.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083523651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:23.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083524668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:23.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083524668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:24.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89267241, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89267236, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:24.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:24.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:24.503 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:24.503 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:24.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083525675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:24.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083525675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:24.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:24.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:24.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083545779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:24.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083545779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:24.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083520991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:24.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083520991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:25.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122504374, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122504370, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:25.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:25.049 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:25.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083525281, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:25.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083525281","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:25.397 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21895561, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21893237, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:25.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:25:25.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:25:25.571 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:25.571 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:25.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87185694, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87185690, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:25.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:25.825 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:25.943 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336596560, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336596557, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:25.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:25.944 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:26.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083527049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:26.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083527049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:26.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083526656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:26.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083526656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:26.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083527671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:26.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083527671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:27.060 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.40, rainFlag=0, windAngle=340.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202610096, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202610091, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:27.060 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:27.060 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:27.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114725755, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114725711, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:27.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:27.206 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:27.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083528669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:27.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083528669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:27.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083548782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:27.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083548782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:27.879 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97692659, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97692654, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:27.879 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:27.880 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:27.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083523984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:27.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083523984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:28.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94193212, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94193208, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:28.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:28.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:28.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083528289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:28.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083528289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:28.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:28.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:28.928 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083528936, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:28.928 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083528936","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:29.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083530048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:29.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083530048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:29.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213874702, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213872433, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:29.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:25:29.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:25:29.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083529642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:29.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083529642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:29.657 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89272531, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89272527, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:29.657 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:29.657 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:29.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083530674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:29.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083530674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:30.305 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:30.305 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:30.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:30.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:30.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:30.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:30.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122509667, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122509661, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:30.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:30.456 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:30.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083531678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:30.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083531678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:30.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083551784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:30.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083551784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:30.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083526981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:30.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083526981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:31.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.14, rainFlag=0, windAngle=103.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.4, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:25:31.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:25:31.108 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:25:31.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87190985, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87190981, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:31.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:31.125 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:31.223 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336601841, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336601837, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:31.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:31.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:31.261 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:31.261 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:31.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083531278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:31.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083531278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:31.967 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:31.967 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:32.008 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083532737, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:32.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083532737","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:32.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083533038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:32.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083533038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:32.346 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.59, rainFlag=0, windAngle=327.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202615389, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202615382, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:32.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:32.347 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:32.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=5.00, windSpeed=0.00, rainFlag=1, windAngle=247.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:25:32.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:25:32.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:25:32.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114731054, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114731048, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:32.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:32.504 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:32.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083532645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:32.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083532645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:32.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083533400, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:32.755 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083533400","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:32.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083533675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:32.819 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083533675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:33.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21903173, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21900859, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:33.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:25:33.009 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:25:33.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.74, rainFlag=1, windAngle=11.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.50, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:25:33.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:25:33.121 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:25:33.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97697972, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97697967, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:33.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:33.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:33.379 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:33.379 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:33.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083534673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:33.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083534673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:33.668 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94198527, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94198488, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:33.668 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:33.668 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:33.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083554782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:33.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083554782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:33.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083529995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:33.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083529995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:34.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083534292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:34.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083534292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:34.570 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:34.570 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:34.765 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:34.765 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:34.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89277834, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89277828, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:34.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:34.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:35.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083536048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:35.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083536048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:35.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083535647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:35.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083535647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:35.660 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:35.660 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:35.681 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122515002, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.5, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122514998, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:35.682 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:35.682 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:35.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083536662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:35.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083536662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:36.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87196275, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87196272, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:36.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:36.415 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:36.513 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336607133, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336607129, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:36.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:36.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:36.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083537674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:36.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083537674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:36.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083557778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:36.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083557778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:36.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083532993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:36.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083532993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:37.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213882315, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213879990, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:37.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:25:37.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:25:37.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083537288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:37.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083537288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:37.641 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=2.50, rainFlag=0, windAngle=324.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202620680, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202620674, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:37.641 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:37.641 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:37.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114736353, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114736348, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:37.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:37.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:38.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083539044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:38.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083539044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:38.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97703275, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97703270, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:38.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:38.489 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:38.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083538645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:38.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083538645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:38.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:38.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:38.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083539676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:38.820 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083539676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:38.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94203827, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94203822, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:38.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:38.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:39.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083540676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:39.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083540676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:39.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083560786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:39.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083560786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:39.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083535985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:39.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083535985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:40.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89283125, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89283119, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:40.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:40.254 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:40.333 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083539682, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:40.333 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083539682","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:40.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083540287, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:40.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083540287","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:40.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:40.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:40.493 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:40.493 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:40.671 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:40.672 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:40.687 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21908461, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:40.978 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122520304, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122520298, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:40.978 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:40.978 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:41.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083542040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:41.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083542040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:41.179 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.90, rainFlag=0, windAngle=90.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.33, cell_6Voltage=4.14, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.25, cell_2Voltage=4.28, cell_3Voltage=4.23, totalVoltage=25.57, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.5, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:25:41.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:25:41.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:25:41.319 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:41.319 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:41.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083541644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:41.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083541644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:41.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87201567, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87201563, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:41.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:41.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:41.799 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336612424, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336612420, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:41.799 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:41.799 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:41.813 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083542671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:41.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083542671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:42.024 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:42.025 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:42.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=323.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.10, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:25:42.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:25:42.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:25:42.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083543675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:42.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083543675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:42.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083563785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:42.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083563785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:42.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083538983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:42.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083538983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:42.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.85, rainFlag=0, windAngle=306.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202625975, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202625972, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:42.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:42.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:43.093 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114741641, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114741638, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:43.093 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:43.094 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:43.124 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.27, rainFlag=1, windAngle=187.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.02}}} +13:25:43.124 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:25:43.124 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:25:43.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083543279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:43.361 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083543279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:43.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:43.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:43.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97708569, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97708564, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:43.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:43.779 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:44.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083545040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:44.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083545040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:44.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94209129, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94209123, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:44.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:44.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:44.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083544644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:44.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083544644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:44.630 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:44.630 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:44.697 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213887610, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:44.803 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083545659, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:44.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083545659","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:44.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:44.837 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:45.549 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89288423, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89288420, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:45.549 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:45.549 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:45.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083546668, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:45.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083546668","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:45.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083566783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:45.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083566783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:45.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:45.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:45.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083541991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:45.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083541991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:46.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083546297, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:46.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083546297","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:46.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122525601, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122525598, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:46.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:46.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:47.006 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87206867, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87206864, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:47.006 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:47.006 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:47.084 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336617704, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336617700, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:47.084 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:47.084 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:47.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083548042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:47.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083548042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:47.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083547651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:47.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083547651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:47.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083548662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:47.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083548662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:48.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.48, rainFlag=0, windAngle=276.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202631268, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202631264, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:48.225 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:48.226 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:48.234 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21916117, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:48.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114746937, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114746932, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:48.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:48.388 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:48.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083549678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:48.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083549678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:48.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083569776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:48.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083569776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:48.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:48.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:48.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083544982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:48.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083544982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:49.069 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97713857, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97713851, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:49.069 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:49.069 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:49.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083549278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:49.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083549278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:49.383 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083548343, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:25:49.384 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083548343","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:25:49.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94214417, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94214413, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:49.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:49.555 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:50.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083551053, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:50.149 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083551053","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:50.444 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:50.444 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:25:50.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083550656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:50.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083550656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:50.553 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:50.553 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:25:50.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:50.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:25:50.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083551664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:50.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083551664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:50.859 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89293730, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89293711, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:50.859 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:50.859 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:51.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.83, rainFlag=0, windAngle=96.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.21, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.5, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:25:51.159 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:25:51.160 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:25:51.380 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:51.380 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:25:51.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083552671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:51.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083552671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:51.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122530907, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122530902, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:51.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:51.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:51.669 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083552675, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.55, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:25:51.670 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083552675","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.55","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:25:51.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083572778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:51.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083572778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:51.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083547989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:51.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083547989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:52.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=329.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:25:52.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:25:52.224 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:25:52.297 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87212167, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87212165, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:52.297 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:52.297 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:52.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:52.357 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:25:52.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336622994, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336622990, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:52.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:52.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:52.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083552289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:52.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083552289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:52.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213895214, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:53.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=4.00, windSpeed=1.01, rainFlag=1, windAngle=206.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.35, cell_4Voltage=4.37, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.5, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:25:53.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:25:53.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:25:53.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083554040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:53.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083554040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:53.511 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:53.511 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:25:53.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083553641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:53.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083553641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:53.567 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.48, rainFlag=0, windAngle=325.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202636560, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202636556, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:53.567 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:53.568 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:53.701 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114752240, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114752234, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:53.701 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:53.701 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:53.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083554672, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:53.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083554672","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:54.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97719155, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97719151, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:54.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:54.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:54.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083555672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:54.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083555672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:54.692 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:54.692 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:25:54.704 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083575775, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:54.704 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083575775","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:54.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94219733, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94219728, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:54.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:25:54.866 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:25:54.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:54.907 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:25:54.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083550991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:54.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083550991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:55.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083555288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:55.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083555288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:55.788 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:55.788 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:25:55.862 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21926025, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21923683, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:55.863 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:25:55.863 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:25:56.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083557046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:56.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083557046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:56.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89299028, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89299024, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:56.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:25:56.153 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:25:56.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083556656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:56.538 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083556656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:56.802 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083557660, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:56.803 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083557660","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:56.869 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122536199, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122536192, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:56.869 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:25:56.869 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:25:57.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083558681, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:57.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083558681","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:25:57.604 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87217458, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.8, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87217456, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:57.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:25:57.605 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:25:57.663 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336628286, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336628282, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:57.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:25:57.664 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:25:57.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083578785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:57.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083578785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:25:57.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083553995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:57.924 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083553995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:25:58.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083558278, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:25:58.360 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083558278","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:25:58.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=7.00, windSpeed=1.29, rainFlag=0, windAngle=326.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202641864, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202641859, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:58.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:25:58.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:25:58.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:58.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:25:59.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114757552, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114757546, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:59.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:25:59.004 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:25:59.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083560043, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:59.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083560043","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:25:59.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083559650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:59.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083559650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:25:59.659 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97724444, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97724440, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:59.659 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:25:59.659 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:25:59.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083560673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:25:59.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083560673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:25:59.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213905155, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213902880, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:25:59.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:25:59.923 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:26:00.167 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94225024, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94225019, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:00.167 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:00.167 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:00.512 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:00.513 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:00.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083561682, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:00.588 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083561682","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:00.603 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083560611, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:00.603 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083560611","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:00.614 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:00.614 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:00.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083581788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:00.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083581788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:00.789 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:00.789 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:00.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083556984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:00.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083556984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:01.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.12, rainFlag=0, windAngle=107.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:26:01.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:26:01.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:26:01.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083561290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:01.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083561290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:01.436 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89304310, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89304304, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:01.437 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:01.437 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:01.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:01.454 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:02.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083563052, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:02.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083563052","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:02.195 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=310.10}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:26:02.195 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:26:02.195 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:26:02.295 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122541500, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122541495, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:02.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:02.296 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:02.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:02.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:02.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083562643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:02.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083562643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:02.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083563665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:02.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083563665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:02.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87222756, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.8, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87222738, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:02.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:02.886 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:02.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336633576, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336633573, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:02.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:02.961 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:03.184 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=4.00, windSpeed=0.92, rainFlag=1, windAngle=193.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:26:03.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:26:03.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:26:03.476 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21933639, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21931309, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:03.476 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:26:03.476 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:26:03.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083564676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:03.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083564676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:03.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:03.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:03.647 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083564376, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:03.647 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083564376","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:03.714 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083584786, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:03.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083584786","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:03.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083559989, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:03.919 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083559989","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:04.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.94, rainFlag=0, windAngle=294.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202647178, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202647172, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:04.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:04.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:04.303 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114762854, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114762848, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:04.303 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:04.303 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:04.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083564282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:04.378 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083564282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:04.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083565075, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:04.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083565075","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:04.750 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:04.750 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:04.988 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:04.988 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:05.007 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97729787, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97729781, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:05.007 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:05.007 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:05.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083566038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:05.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083566038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:05.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94230327, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94230321, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:05.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:05.467 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:05.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083565642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:05.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083565642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:05.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083566666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:05.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083566666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:05.857 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:05.857 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:06.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083567676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:06.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083567676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:06.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083587780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:06.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083587780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:06.728 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89309602, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89309596, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:06.728 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:06.728 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:06.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083562992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:06.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083562992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:07.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083567284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:07.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083567284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:07.457 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122546791, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122546785, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:07.457 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:07.457 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:07.547 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213912767, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213910446, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:07.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:26:07.548 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:26:08.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083569044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:08.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083569044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:08.172 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87228042, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.8, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87228039, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:08.172 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:08.172 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:08.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336638856, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336638852, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:08.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:08.230 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:08.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083568655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:08.536 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083568655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:08.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083569669, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:08.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083569669","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:08.976 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:08.976 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:09.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.57, rainFlag=0, windAngle=289.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202652478, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202652474, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:09.441 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:09.441 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:09.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083570674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:09.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083570674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:09.600 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114768156, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114768150, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:09.600 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:09.600 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:09.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083590777, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:09.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083590777","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:09.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083565984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:09.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083565984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:10.290 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97735079, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97735077, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:10.290 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:10.290 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:10.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083570290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:10.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083570290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:10.570 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:10.570 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:10.797 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:10.797 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:10.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94235674, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94235669, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:10.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:10.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:11.105 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=1.00, windSpeed=5.83, rainFlag=0, windAngle=88.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.4, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:26:11.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:26:11.106 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:26:11.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:11.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:11.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083572044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:11.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083572044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:11.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21941249, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.3, innerTemp=14.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21938930, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:11.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:26:11.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:26:11.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:11.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:11.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083571654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:11.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083571654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:11.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083572667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:11.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083572667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:12.011 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083571455, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:12.011 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083571455","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:12.018 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89314891, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89314886, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:12.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:12.019 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:12.275 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=294.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.25, cell_4Voltage=4.28, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:26:12.275 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:26:12.275 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:26:12.482 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:12.482 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:12.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083573669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:12.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083573669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:12.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083593780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:12.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083593780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:12.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122552080, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122552076, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:12.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:12.746 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:12.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083568983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:12.913 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083568983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:13.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=3.00, windSpeed=0.46, rainFlag=1, windAngle=143.90}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:26:13.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:26:13.175 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:26:13.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083573288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:13.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083573288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:13.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87233322, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.8, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87233319, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:13.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:13.453 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:13.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336644145, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336644142, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:13.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:13.519 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:13.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:13.645 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:14.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083575040, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:14.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083575040","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:14.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083574643, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:14.524 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083574643","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:14.729 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.03, rainFlag=0, windAngle=313.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202657771, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202657766, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:14.729 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:14.729 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:14.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083575668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:14.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083575668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:14.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:14.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:14.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114773453, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114773450, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:14.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:14.903 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:15.060 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:15.060 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:15.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213920379, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213918059, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:15.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:26:15.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:26:15.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083576676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:15.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083576676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:15.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97740374, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97740369, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:15.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:15.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:15.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083596783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:15.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083596783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:15.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083571986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:15.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083571986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:15.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:15.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:16.126 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94240986, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94240980, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:16.126 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:16.126 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:16.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083576286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:16.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083576286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:17.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083578051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:17.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083578051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:17.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89320184, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89320178, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:17.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:17.310 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:17.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083577648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:17.530 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083577648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:17.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083578675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:17.818 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083578675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:18.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122557372, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122557367, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:18.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:18.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:18.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083579683, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:18.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083579683","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:18.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21948862, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21946585, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:18.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:26:18.698 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:26:18.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083599779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:18.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083599779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:18.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87238602, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.8, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87238598, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:18.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:18.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:18.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336649436, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336649434, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:18.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:18.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:18.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083574991, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:18.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083574991","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:19.039 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:19.039 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:19.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083579282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:19.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083579282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:20.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.22, rainFlag=0, windAngle=308.40}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202663062, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202663055, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:20.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:20.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:20.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083581051, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:20.145 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083581051","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:20.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114778761, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114778754, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:20.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:20.216 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:20.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083580655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:20.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083580655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:20.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:20.627 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:20.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083581671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:20.814 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083581671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:20.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:20.865 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:20.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97745676, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97745670, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:20.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:20.890 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:21.086 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=4.00, windDir=2.00, windSpeed=5.46, rainFlag=0, windAngle=97.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.5, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:26:21.086 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:26:21.086 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:26:21.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:21.201 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:21.222 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083580175, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:26:21.222 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083580175","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:26:21.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94246298, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94246293, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:21.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:21.431 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:21.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083582669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:21.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083582669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:21.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:21.587 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:21.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083602781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:21.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083602781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:21.760 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083582756, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:26:21.760 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083582756","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:26:21.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083577982, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:21.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083577982","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:22.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=318.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:26:22.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:26:22.152 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:26:22.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083582283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:22.364 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083582283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:22.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89325474, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89325468, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:22.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:22.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:22.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:22.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:22.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213927992, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213925673, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:22.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:26:22.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:26:23.127 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.27, rainFlag=1, windAngle=328.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.35, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.4}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:26:23.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:26:23.128 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:26:23.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083584046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:23.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083584046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:23.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122562659, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122562655, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:23.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:23.326 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:23.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083583650, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:23.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083583650","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:23.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:23.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:23.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083584661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:23.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083584661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:24.024 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87243893, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.8, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87243889, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:24.024 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:24.024 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:24.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336654756, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336654714, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:24.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:24.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:24.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083585683, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:24.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083585683","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:24.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083605780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:24.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083605780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:24.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:24.877 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:24.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083580990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:24.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083580990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:25.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:25.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:25.320 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.40, rainFlag=0, windAngle=308.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202668362, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202668356, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:25.320 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:25.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:25.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083585280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:25.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083585280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:25.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114784061, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114784056, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:25.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:25.514 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:25.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:25.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:26.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083587047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:26.144 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083587047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:26.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97750966, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=12.9}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97750962, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:26.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:26.180 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:26.321 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21954143, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:26.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083586653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:26.535 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083586653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:26.728 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94251590, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94251584, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:26.728 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:26.728 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:26.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083587677, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:26.833 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083587677","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:27.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083588678, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:27.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083588678","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:27.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083608787, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:27.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083608787","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:27.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89330765, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89330759, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:27.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:27.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:27.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083583992, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:27.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083583992","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:28.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083588288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:28.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083588288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:28.617 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122567953, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.4, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122567948, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:28.618 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:28.618 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:29.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:29.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:29.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083590042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:29.136 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083590042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:29.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87249173, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.8, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87249169, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:29.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:29.306 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:29.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336660042, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336660038, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:29.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:29.423 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:29.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083589656, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:29.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083589656","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:29.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083590676, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:29.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083590676","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:30.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213933324, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:30.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083591677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:30.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083591677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:30.620 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.40, rainFlag=0, windAngle=291.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202673654, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202673649, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:30.620 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:30.620 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:30.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083611778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:30.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083611778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:30.855 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:30.855 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:30.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114789422, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.5, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114789415, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:30.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:30.874 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:30.927 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083586997, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:30.927 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083586997","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:30.929 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:30.929 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:31.058 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.44, rainFlag=0, windAngle=102.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.32, cell_6Voltage=4.15, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.25, cell_2Voltage=4.28, cell_3Voltage=4.24, totalVoltage=25.57, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.5, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:26:31.058 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:26:31.059 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:26:31.266 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:31.266 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:31.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083591280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:31.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083591280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:31.491 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97756272, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97756265, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:31.491 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:31.491 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:31.650 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:31.650 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:31.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308VCSG6Y9H/realTime/data, callbackCount=0, messageBody={} +13:26:32.025 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94256891, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94256886, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:32.025 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:32.026 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:32.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=313.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.28, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:26:32.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:26:32.119 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:26:32.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083593050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:32.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083593050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:32.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083592337, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:32.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083592337","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:32.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083592644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:32.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083592644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:32.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083593662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:32.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083593662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:32.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:32.867 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:33.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=317.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:26:33.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:26:33.113 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:26:33.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89336056, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89336050, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:33.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:33.181 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:33.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083594676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:33.590 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083594676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:33.703 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083614776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:33.704 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083614776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:33.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:33.763 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:33.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122573245, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122573240, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:33.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:33.910 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:33.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083589985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:33.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083589985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:33.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21961777, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:34.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083594290, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:34.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083594290","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:34.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87254454, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.8, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87254450, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:34.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:34.594 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:34.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336665332, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336665329, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:34.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:34.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:34.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:34.931 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:35.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083596049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:35.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083596049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:35.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:35.192 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:35.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083595986, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:35.257 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083595986","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:35.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083595642, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:35.523 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083595642","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:35.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083596675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:35.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083596675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:35.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.75, rainFlag=0, windAngle=308.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202678955, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202678951, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:35.920 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:35.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:36.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:36.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:36.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083596751, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:36.107 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083596751","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:36.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114794785, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114794714, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:36.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:36.235 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:36.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083597670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:36.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083597670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:36.704 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083617776, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:36.704 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083617776","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:36.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97761573, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97761568, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:36.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:36.792 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:36.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083592984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:36.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083592984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:37.337 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94262193, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94262187, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:37.337 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:37.337 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:37.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083597285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:37.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083597285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:38.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213940903, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:38.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083599054, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:38.150 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083599054","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:38.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89341347, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89341341, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:38.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:38.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:38.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083598645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:38.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083598645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:38.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083599674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:38.816 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083599674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:39.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:39.166 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:39.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122578548, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122578542, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:39.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:39.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:39.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083600677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:39.584 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083600677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:39.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083620785, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:39.713 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083620785","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:39.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87259755, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.8, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87259741, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:39.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:39.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:39.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083595986, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:39.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083595986","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:39.998 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336670623, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336670620, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:39.998 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:39.998 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:40.380 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083600298, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:40.381 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083600298","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:40.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:40.937 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:41.000 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:41.000 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:41.030 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.61, rainFlag=0, windAngle=98.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.21, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.55, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.6, innerTemp=12.6}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:26:41.030 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:26:41.031 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:26:41.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083602050, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:41.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083602050","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:41.220 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.75, rainFlag=0, windAngle=295.20}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202684254, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202684250, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:41.220 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:41.220 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:41.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083601646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:41.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083601646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:41.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114800088, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114800082, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:41.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:41.533 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:41.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:41.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:41.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21971699, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21969369, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:41.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:26:41.602 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:26:41.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:41.719 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:41.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083602673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:41.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083602673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:42.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97766884, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97766879, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:42.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:42.101 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:42.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.00, rainFlag=1, windAngle=304.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.27, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:26:42.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:26:42.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:26:42.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083603673, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:42.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083603673","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:42.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94267526, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.6, innerTemp=11.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94267489, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:42.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:42.667 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:42.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083623782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:42.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083623782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:42.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083598981, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:42.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083598981","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:42.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:42.930 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:43.116 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.18, rainFlag=1, windAngle=20.70}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:26:43.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:26:43.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:26:43.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083603286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:43.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083603286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:43.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89346637, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89346631, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:43.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:43.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:43.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083603228, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:43.785 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083603228","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:43.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:43.834 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:44.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083605038, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:44.134 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083605038","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:44.518 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122583837, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122583832, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:44.518 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:44.518 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:44.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083604654, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:44.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083604654","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:44.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083605675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:44.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083605675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:45.229 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:45.229 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:45.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87265106, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.8, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87265102, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:45.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:45.247 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:45.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:45.252 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:45.293 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336675914, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336675910, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:45.293 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:45.293 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:45.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083606670, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:45.577 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083606670","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:45.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213950828, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213948516, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:45.597 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:26:45.598 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:26:45.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083626788, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:45.716 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083626788","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:45.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083601985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:45.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083601985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:46.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:46.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:46.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083606282, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:46.365 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083606282","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:46.520 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.57, rainFlag=0, windAngle=294.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202689560, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202689554, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:46.520 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:46.520 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:46.829 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114805385, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114805381, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:46.829 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:46.829 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:47.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083608042, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:47.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083608042","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:47.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97772188, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97772183, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:47.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:47.398 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:47.521 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083607641, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:47.521 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083607641","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:47.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083608671, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:47.812 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083608671","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:47.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94272816, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94272812, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:47.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:47.948 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:48.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083609674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:48.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083609674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:48.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083629781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:48.709 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083629781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:48.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083604985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:48.917 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083604985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:49.065 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89351939, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.1, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89351934, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:49.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:49.066 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:49.147 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21979312, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21977033, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:49.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:26:49.148 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:26:49.227 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:49.227 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:49.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083609291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:49.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083609291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:49.797 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122589128, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122589123, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:49.797 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:49.797 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:50.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083611047, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:50.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083611047","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:50.525 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083610645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:50.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083610645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:50.544 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87270413, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87270410, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:50.545 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:50.545 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:50.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336681205, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336681202, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:50.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:50.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:50.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083611663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:50.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083611663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:51.000 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:51.000 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:26:51.061 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:51.061 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:26:51.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.87, rainFlag=0, windAngle=97.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.30, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.6, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:26:51.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:26:51.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:26:51.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083612672, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:51.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083612672","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:51.654 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:51.654 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:26:51.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083632779, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:51.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083632779","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:51.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083612835, roll=0, lon=0, battery=0.89, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.54, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:26:51.831 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.89","date":"1772083612835","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.54","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:26:51.842 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:51.843 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:26:51.891 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.57, rainFlag=0, windAngle=297.80}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202694894, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202694890, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:51.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:51.892 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:51.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083607984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:51.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083607984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:52.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114810678, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114810674, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:52.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:52.120 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:52.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=340.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.25, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.2, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:26:52.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:26:52.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:26:52.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083612291, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:52.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083612291","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:52.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97777478, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97777473, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:52.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:52.688 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:53.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083611978, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:26:53.021 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083611978","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:26:53.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083614046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:53.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083614046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:53.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.64, rainFlag=1, windAngle=31.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.7, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:26:53.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:26:53.178 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:26:53.237 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94278105, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94278102, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:53.237 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:53.237 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:53.255 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:53.255 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:26:53.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213958441, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213956127, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:53.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:26:53.271 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:26:53.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083613655, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:53.537 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083613655","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:53.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083614666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:53.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083614666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:53.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:53.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:26:54.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89357240, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89357235, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:54.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:54.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:54.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083615669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:54.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083615669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:54.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083635778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:54.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083635778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:54.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083610985, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:54.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083610985","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:55.097 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122594421, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122594415, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:55.097 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:26:55.097 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:26:55.303 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:55.303 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:26:55.316 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:55.316 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:26:55.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083615285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:55.368 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083615285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:55.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336686496, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336686492, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:55.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:26:55.873 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:26:55.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87275755, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87275701, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:55.895 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:26:55.896 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:26:56.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083617045, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:56.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083617045","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:56.285 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:56.285 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:26:56.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083616651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:56.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083616651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:56.759 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21986924, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21984591, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:56.759 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:26:56.759 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:26:56.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083617673, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:56.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083617673","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:26:57.170 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.03, rainFlag=0, windAngle=298.10}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202700205, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202700201, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:57.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:26:57.171 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:26:57.413 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114815970, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114815966, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:57.413 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:26:57.413 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:26:57.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083618679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:57.586 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083618679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:26:57.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083638780, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:57.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083638780","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:26:57.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083613994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:57.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083613994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:26:57.983 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=98, chargeTime=97782766, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97782762, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:57.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:26:57.984 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:26:58.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083618292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:26:58.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083618292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:26:58.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94283396, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94283393, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:58.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:26:58.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:26:59.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083620044, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:59.139 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083620044","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:26:59.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:59.292 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:26:59.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083619648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:59.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083619648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:26:59.669 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89362544, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89362537, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:26:59.669 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:26:59.669 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:26:59.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083620674, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:26:59.815 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083620674","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:00.463 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122599762, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122599716, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:00.463 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:27:00.463 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:27:00.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083621674, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:00.581 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083621674","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:00.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083641782, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:00.711 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083641782","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:00.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213966053, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213963775, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:00.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:27:00.822 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:27:00.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083616984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:00.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083616984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:01.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:27:01.056 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:27:01.081 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=4.53, rainFlag=0, windAngle=92.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.32, cell_4Voltage=4.31, cell_6Voltage=4.20, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.5, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.60}}} +13:27:01.081 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:27:01.081 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:27:01.124 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:27:01.124 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:27:01.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336691776, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336691772, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:01.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:27:01.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:27:01.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87281060, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87281057, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:01.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:27:01.196 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:27:01.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083621289, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:01.372 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083621289","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:01.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:27:01.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:27:01.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:27:01.912 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:27:02.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083623046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:02.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083623046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:27:02.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=325.40}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.25, cell_4Voltage=4.28, cell_6Voltage=4.27, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:27:02.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:27:02.242 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:27:02.469 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.22, rainFlag=0, windAngle=296.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202705507, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202705502, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:02.470 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:27:02.470 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:27:02.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083622647, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:02.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083622647","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:27:02.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114821262, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114821257, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:02.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:27:02.715 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:27:02.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083623664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:02.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083623664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:03.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=0.00, windSpeed=0.64, rainFlag=1, windAngle=30.60}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.37, cellTemp=15.50, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.36, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:27:03.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:27:03.109 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:27:03.279 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97788067, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97788063, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:03.280 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:27:03.280 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:27:03.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:27:03.327 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:27:03.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083624671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:03.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083624671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:03.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083644783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:03.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083644783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:03.823 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94288691, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94288686, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:03.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:27:03.824 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:27:03.939 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083619994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:03.939 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083619994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:03.966 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:27:03.966 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:27:04.024 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083624035, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410V9BB2UGY, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:04.024 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410V9BB2UGY, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083624035","datetime":0,"deviceid":"THJSQ03B2410V9BB2UGY","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:04.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083624284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:04.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083624284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:04.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=21994537, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.2, innerTemp=14.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21992213, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:04.373 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:27:04.374 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:27:04.962 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89367835, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89367830, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:04.962 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:27:04.962 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:27:05.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083626037, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:05.133 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083626037","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:27:05.381 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:27:05.381 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:27:05.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:27:05.387 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:27:05.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083625651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:05.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083625651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:27:05.735 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122605067, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122605062, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:05.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:27:05.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:27:05.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083626666, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:05.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083626666","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:06.406 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:27:06.406 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:27:06.433 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336697056, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336697052, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:06.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:27:06.434 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:27:06.485 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87286352, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87286348, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:06.485 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:27:06.485 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:27:06.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083627676, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:06.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083627676","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:06.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083647773, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:06.700 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083647773","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:06.846 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083627574, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308YCMFPB11, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:06.846 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308YCMFPB11, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083627574","datetime":0,"deviceid":"THJSY03A2308YCMFPB11","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:06.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083622987, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:06.918 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083622987","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:07.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083627292, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:07.375 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083627292","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:07.770 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.22, rainFlag=0, windAngle=280.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202710811, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202710805, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:07.770 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:27:07.770 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:27:07.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083628456, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2306Q5CSWZ75, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:07.811 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2306Q5CSWZ75, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083628456","datetime":0,"deviceid":"THJSQ03A2306Q5CSWZ75","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:08.013 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114826565, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114826559, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:08.013 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:27:08.013 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:27:08.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083629039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:08.137 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083629039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:27:08.445 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213973665, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.3, innerTemp=14.4}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213971342, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:08.445 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:27:08.446 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:27:08.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083628645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:08.528 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083628645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:27:08.579 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97793363, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97793356, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:08.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:27:08.580 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:27:08.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083629668, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:08.810 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083629668","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:09.126 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94293994, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94293988, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:09.127 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:27:09.127 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:27:09.355 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:27:09.356 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:27:09.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083630679, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:09.585 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083630679","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:09.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083650783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:09.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083650783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:09.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083625983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:09.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083625983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:10.266 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89373136, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89373130, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:10.266 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:27:10.266 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:27:10.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083630286, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:10.369 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083630286","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:11.040 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122610362, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122610356, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:11.040 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:27:11.040 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:27:11.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:27:11.117 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:27:11.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083632048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:11.143 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083632048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:27:11.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=2.12, rainFlag=0, windAngle=107.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.31, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.5, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.60}}} +13:27:11.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:27:11.161 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:27:11.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:27:11.191 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:27:11.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083631648, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:11.529 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083631648","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:27:11.723 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336702347, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336702343, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:11.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:27:11.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:27:11.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87291631, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87291628, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:11.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:27:11.762 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:27:11.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083632675, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:11.817 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083632675","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:11.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:27:11.969 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:27:12.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:27:12.035 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:27:12.053 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=21999813, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:12.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=324.30}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.26, cell_4Voltage=4.27, cell_6Voltage=4.28, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:27:12.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:27:12.214 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:27:12.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083633683, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:12.589 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083633683","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:12.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083653784, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:12.712 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083653784","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:12.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083628994, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:12.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083628994","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:13.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.68, rainFlag=0, windAngle=289.60}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202716111, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202716106, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:13.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:27:13.070 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:27:13.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.55, rainFlag=1, windAngle=340.20}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.36, cell_4Voltage=4.36, cell_6Voltage=4.36, cellTemp=15.60, mosTemp=17.40, cell_1Voltage=4.35, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.03}}} +13:27:13.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:27:13.190 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:27:13.299 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114831856, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114831850, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:13.300 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:27:13.300 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:27:13.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083633280, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:13.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083633280","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:13.393 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:27:13.394 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:27:13.863 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97798653, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97798648, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:13.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:27:13.864 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:27:14.033 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:27:14.034 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:27:14.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083635048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:14.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083635048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:27:14.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94299295, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94299290, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:14.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:27:14.435 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:27:14.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083634653, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:14.534 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083634653","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:27:14.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083635667, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:14.808 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083635667","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:15.422 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:27:15.422 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:27:15.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:27:15.447 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:27:15.551 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083634997, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2410JGNSTBG4, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:15.551 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410JGNSTBG4, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083634997","datetime":0,"deviceid":"THJSQ03B2410JGNSTBG4","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:15.562 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89378437, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89378432, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:15.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:27:15.563 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:27:15.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083636671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:15.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083636671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:15.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083656783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:15.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083656783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:15.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083631983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:15.915 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083631983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:16.045 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213978963, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:16.191 [scheduling-1] INFO c.r.d.s.i.SynService - [updateDevicesScheduled,194] - ========== 开始执行定时任务：同步基础表数据 ========== +13:27:16.194 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,132] - 成功加载 1 个网关设备，共扫描 10 个设备，跳过 0 个空页 +13:27:16.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083636288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:16.371 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083636288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:16.465 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:27:16.465 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:27:16.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122615754, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.6, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122615701, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:16.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:27:16.473 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:27:16.475 [scheduling-1] INFO c.r.d.d.m.t.GatewayDeviceIterator - [loadNextBatch,135] - 没有找到更多网关设备，共扫描 25 个设备，跳过 3 个空页 +13:27:17.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336707626, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336707622, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:17.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:27:17.001 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:27:17.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87296911, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87296908, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:17.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:27:17.042 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:27:17.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083638046, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:17.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083638046","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:27:17.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083637651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:17.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083637651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:27:17.804 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083638663, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:17.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083638663","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:18.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=2.50, rainFlag=0, windAngle=278.30}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202721401, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202721397, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:18.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:27:18.363 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:27:18.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083639669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:18.575 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083639669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:18.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114837146, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114837141, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:18.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:27:18.593 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:27:18.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083659783, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:18.710 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083659783","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:18.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083634983, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:18.914 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083634983","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:19.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=98, chargeTime=97803928, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97803924, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:19.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:27:19.138 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:27:19.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083639283, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:19.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083639283","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:19.418 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:27:19.418 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:27:19.595 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=22007480, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:19.730 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94304598, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94304592, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:19.731 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:27:19.731 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:27:20.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083641049, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:20.142 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083641049","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:27:20.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083640644, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:20.526 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083640644","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:27:20.805 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083641664, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:20.806 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083641664","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:20.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89383731, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89383723, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:20.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:27:20.858 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:27:21.034 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=3.00, windDir=2.00, windSpeed=3.79, rainFlag=0, windAngle=95.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.31, cell_4Voltage=4.31, cell_6Voltage=4.24, cellTemp=18.20, mosTemp=18.70, cell_1Voltage=4.24, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.58, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.5, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:27:21.034 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:27:21.034 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:27:21.184 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:27:21.184 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:27:21.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:27:21.253 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:27:21.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083642677, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:21.583 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083642677","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:21.701 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083662774, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:21.701 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083662774","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:21.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122621062, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.8, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122621057, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:21.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:27:21.736 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:27:21.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083642906, roll=0, lon=0, battery=0.9, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03A2303VSWFTRRF, yaw=0, voltage=25.58, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:27:21.900 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2303VSWFTRRF, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"0.9","date":"1772083642906","datetime":0,"deviceid":"THJSQ03A2303VSWFTRRF","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"25.58","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:27:21.927 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083637995, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:21.927 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083637995","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:22.030 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:27:22.030 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308YCMFPB11, status=1 +13:27:22.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:27:22.096 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309C00HR8PP, status=1 +13:27:22.185 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=7.00, windSpeed=0.00, rainFlag=1, windAngle=325.80}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.27, cell_4Voltage=4.27, cell_6Voltage=4.26, cellTemp=15.00, mosTemp=17.20, cell_1Voltage=4.27, cell_2Voltage=4.28, cell_3Voltage=4.26, totalVoltage=25.62, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.3, innerTemp=14.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=0.00, voltage=25.50}}} +13:27:22.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A23059TKMH57V, bPowerON=2 +13:27:22.186 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A23059TKMH57V, powerOn=2 +13:27:22.293 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336712917, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.0, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336712914, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:22.293 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:27:22.293 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:27:22.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87302191, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87302187, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:22.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:27:22.325 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:27:22.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083642285, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:22.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083642285","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:23.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=1.00, windDir=6.00, windSpeed=0.74, rainFlag=1, windAngle=281.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.37, cell_4Voltage=4.35, cell_6Voltage=4.37, cellTemp=15.70, mosTemp=17.40, cell_1Voltage=4.36, cell_2Voltage=4.35, cell_3Voltage=4.35, totalVoltage=26.14, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=72.6, innerTemp=14.3}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=1, capacity=32.00, voltage=26.04}}} +13:27:23.111 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308234G1J6H, bPowerON=2 +13:27:23.112 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308234G1J6H, powerOn=2 +13:27:23.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083644048, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:23.146 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083644048","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:27:23.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083643645, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:23.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083643645","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:27:23.706 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.94, rainFlag=0, windAngle=289.90}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202726696, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202726689, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:23.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:27:23.707 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:27:23.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:27:23.724 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2306Q5CSWZ75, status=1 +13:27:23.739 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213986563, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:23.803 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083644662, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:23.803 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083644662","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:23.884 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114842432, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114842428, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:23.884 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:27:23.884 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:27:24.099 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:27:24.099 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410C5V93XD2, status=1 +13:27:24.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=98, chargeTime=97809225, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97809218, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:24.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:27:24.440 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:27:24.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083645675, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:24.582 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083645675","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:24.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083665781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:24.717 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083665781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:24.846 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308234G1J6H/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083643805, roll=0, lon=0, battery=1, Timestamp=0001/1/1 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, landing_target_z=0, flowRate=0, pitch=0, lat=0, hspeed=0.00, mileage=0, altasl=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSY03A2308234G1J6H, yaw=0, voltage=26.14, vspeed=0.00, armed=false, ysingal=0, altasl2=0}} +13:27:24.846 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308234G1J6H, messageId=null data={"Timestamp":"0001/1/1 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","battery":"1","date":"1772083643805","datetime":0,"deviceid":"THJSY03A2308234G1J6H","distToHome":"0","flowRate":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"26.14","vspeed":"0.00","yaw":0.0,"ysingal":0} +13:27:24.921 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083640990, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:24.922 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083640990","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:25.020 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94309887, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94309882, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:25.020 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:27:25.020 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:27:25.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083645279, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:25.362 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083645279","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:25.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:27:25.476 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410TGJ3MCJY, status=1 +13:27:25.516 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:27:25.516 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSY03A2308X2ZMT3CZ, status=1 +13:27:26.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083647039, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:26.135 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083647039","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:27:26.140 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89389016, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89389012, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:26.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:27:26.141 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2 +13:27:26.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:27:26.474 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410JGNSTBG4, status=1 +13:27:26.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083646646, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:26.527 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083646646","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:27:26.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083647665, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:26.807 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083647665","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:27.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410JGNSTBG4/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=97, chargeTime=122626363, mosTemp=15.00, num_cycles=31, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 03:21:54, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=15.00, model=Anaxin, totalVoltage=24.67}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.8, innerTemp=12.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 03:21:54, current=0.00, bCharging=2, chargeTime=122626358, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:27.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410JGNSTBG4, bPowerON=2 +13:27:27.037 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410JGNSTBG4, powerOn=2 +13:27:27.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=22017375, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2026-02-26 07:19:26, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=74.1, innerTemp=14.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-26 07:19:26, current=0.00, bCharging=2, chargeTime=22015049, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:27.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309C00HR8PP, bPowerON=2 +13:27:27.210 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309C00HR8PP, powerOn=2 +13:27:27.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083648671, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:27.578 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083648671","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:27.609 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=87307480, mosTemp=16.00, num_cycles=59, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 13:10:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=16.00, model=Anaxin, totalVoltage=24.80}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.7, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 13:10:00, current=0.00, bCharging=2, chargeTime=87307477, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:27.610 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410TGJ3MCJY, bPowerON=2 +13:27:27.610 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410TGJ3MCJY, powerOn=2 +13:27:27.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083668778, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:27.705 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083668778","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:27.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083643993, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:27.925 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083643993","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:28.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083648288, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:28.370 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083648288","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:28.470 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.09, cell_4Voltage=4.09, cell_6Voltage=4.09, Battery_level=92, chargeTime=336719097, mosTemp=10.00, num_cycles=48, cell_1Voltage=4.09, cell_2Voltage=4.09, cell_3Voltage=4.09, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-22 15:54:25, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=10.00, model=Anaxin, totalVoltage=24.53}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.9, innerTemp=14.6}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-22 15:54:25, current=0.00, bCharging=2, chargeTime=336719095, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:28.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2309PNRKDVT6, bPowerON=2 +13:27:28.471 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2309PNRKDVT6, powerOn=2 +13:27:28.959 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308YCMFPB11/realTime/data, callbackCount=0, messageBody={nestWeather={msg=Op succeed, code=0, data={rainfall=0.00, windLevel=2.00, windDir=6.00, windSpeed=1.29, rainFlag=0, windAngle=304.70}, sender=DroneNest, fun=query_weather}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.11, cell_4Voltage=4.11, cell_6Voltage=4.11, Battery_level=96, chargeTime=202731995, mosTemp=25.00, num_cycles=19, cell_1Voltage=4.11, cell_2Voltage=4.11, cell_3Voltage=4.11, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-24 05:08:30, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=25.00, model=Anaxin, totalVoltage=24.65}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=44.4, innerTemp=24.1}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-24 05:08:30, current=0.00, bCharging=2, chargeTime=202731990, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:28.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308YCMFPB11, bPowerON=2 +13:27:28.960 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308YCMFPB11, powerOn=2 +13:27:29.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083650054, zoomvalue=2, roll=-0.2513405, lon=119.6722434, arrwaypointvalue=-1, Timestamp=2026/2/25 2:17:13, landingState=true, mode=auto, landing_target_y=0.09124538, distToHome=0.7295924, landing_target_x=-0.08564842, datetime=422, satcount=12, gpssingal=4, battery_remain=68, landing_target_z=0.2931898, pitch=-0.07249025, camerapitch=32.7, obstacle=0, lat=31.7069737, hspeed=0.14, mileage=2288.453, altasl=3.92, laser_distance=0, tsingal=0, flytime=422, alt=-2.22, deviceid=THJSY03A2308X2ZMT3CZ, yaw=247.4592, voltage=23.28, camerayaw=0.7, vspeed=-0.30, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:29.151 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSY03A2308X2ZMT3CZ, messageId=null data={"Timestamp":"2026/2/25 2:17:13","alt":"-2.22","altasl":"3.92","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"68","camerapitch":"32.7","cameraroll":"0","camerayaw":"0.7","date":"1772083650054","datetime":422,"deviceid":"THJSY03A2308X2ZMT3CZ","distToHome":"0.7295924","flytime":422,"gpssingal":4,"hspeed":"0.14","landingState":"true","landing_target_x":"-0.08564842","landing_target_y":"0.09124538","landing_target_z":"0.2931898","laser_distance":"0","lat":31.7069737,"lon":119.6722434,"mileage":"2288.453","mode":"auto","obstacle":"0","pitch":-0.07249025,"roll":-0.2513405,"satcount":12,"tsingal":0,"voltage":"23.28","vspeed":"-0.30","yaw":247.4592,"ysingal":0,"zoomvalue":"2"} +13:27:29.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410V9BB2UGY/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.12, cell_4Voltage=4.12, cell_6Voltage=4.12, Battery_level=97, chargeTime=114847755, mosTemp=8.00, num_cycles=11, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 05:29:38, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=100, cellTemp=8.00, model=Anaxin, totalVoltage=24.73}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=75.6, innerTemp=13.2}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 05:29:38, current=0.00, bCharging=2, chargeTime=114847722, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:29.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410V9BB2UGY, bPowerON=2 +13:27:29.205 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410V9BB2UGY, powerOn=2 +13:27:29.475 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:27:29.476 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2309PNRKDVT6, status=1 +13:27:29.531 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083649651, zoomvalue=1, roll=-0.8484305, lon=118.8026868, arrwaypointvalue=-1, Timestamp=2026/2/25 4:37:35, landingState=true, mode=rtl, landing_target_y=-0.01253248, distToHome=1.146965, landing_target_x=-0.002259732, datetime=328, satcount=0, gpssingal=4, battery_remain=85, landing_target_z=0.135865, pitch=-0.4709283, camerapitch=34.9, obstacle=0, lat=31.873604, hspeed=0.30, mileage=1777.317, altasl=25.88, laser_distance=0, tsingal=0, flytime=328, alt=3.30, deviceid=THJSQ03B2410C5V93XD2, yaw=114.5189, voltage=24.06, camerayaw=-17.4, vspeed=0.43, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:29.532 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410C5V93XD2, messageId=null data={"Timestamp":"2026/2/25 4:37:35","alt":"3.30","altasl":"25.88","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"85","camerapitch":"34.9","cameraroll":"0","camerayaw":"-17.4","date":"1772083649651","datetime":328,"deviceid":"THJSQ03B2410C5V93XD2","distToHome":"1.146965","flytime":328,"gpssingal":4,"hspeed":"0.30","landingState":"true","landing_target_x":"-0.002259732","landing_target_y":"-0.01253248","landing_target_z":"0.135865","laser_distance":"0","lat":31.873604,"lon":118.8026868,"mileage":"1777.317","mode":"rtl","obstacle":"0","pitch":-0.4709283,"roll":-0.8484305,"satcount":0,"tsingal":0,"voltage":"24.06","vspeed":"0.43","yaw":114.5189,"ysingal":0,"zoomvalue":"1"} +13:27:29.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSY03A2308X2ZMT3CZ/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.12, Battery_level=98, chargeTime=97814515, mosTemp=10.00, num_cycles=54, cell_1Voltage=4.12, cell_2Voltage=4.12, cell_3Voltage=4.12, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 10:17:05, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=98, cellTemp=10.00, model=Anaxin, totalVoltage=24.75}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=77.8, innerTemp=13.0}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 10:17:05, current=0.00, bCharging=2, chargeTime=97814510, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:29.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSY03A2308X2ZMT3CZ, bPowerON=2 +13:27:29.727 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSY03A2308X2ZMT3CZ, powerOn=2 +13:27:29.803 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309C00HR8PP/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083650661, zoomvalue=0, roll=0, lon=0, arrwaypointvalue=0, Timestamp=0001-01-01 0:00:00, landingState=false, mode=unknown, landing_target_y=0, distToHome=0, landing_target_x=0, datetime=0, satcount=0, gpssingal=0, battery_remain=0, landing_target_z=0, pitch=0, camerapitch=0, obstacle=0, lat=0, hspeed=0.00, mileage=0, altasl=0, laser_distance=0, tsingal=0, flytime=0, alt=0.00, deviceid=THJSQ03B2309C00HR8PP, yaw=0, voltage=0.00, camerayaw=0, vspeed=0.00, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:29.803 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309C00HR8PP, messageId=null data={"Timestamp":"0001-01-01 0:00:00","alt":"0.00","altasl":"0","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"0","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083650661","datetime":0,"deviceid":"THJSQ03B2309C00HR8PP","distToHome":"0","flytime":0,"gpssingal":0,"hspeed":"0.00","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":0.0,"lon":0.0,"mileage":"0","mode":"unknown","obstacle":"0","pitch":0.0,"roll":0.0,"satcount":0,"tsingal":0,"voltage":"0.00","vspeed":"0.00","yaw":0.0,"ysingal":0,"zoomvalue":"0"} +13:27:30.315 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.19, cell_4Voltage=4.19, cell_6Voltage=4.19, Battery_level=97, chargeTime=94315179, mosTemp=14.00, num_cycles=79, cell_1Voltage=4.19, cell_2Voltage=4.19, cell_3Voltage=4.19, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 11:14:26, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=96, cellTemp=14.00, model=Anaxin, totalVoltage=25.16}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=80.5, innerTemp=11.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 11:14:26, current=0.00, bCharging=2, chargeTime=94315174, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:30.315 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2302FAWQZBJ1, bPowerON=2 +13:27:30.315 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2302FAWQZBJ1, powerOn=2 +13:27:30.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2410TGJ3MCJY/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083651669, zoomvalue=1, roll=-0.5221713, lon=118.9498452, arrwaypointvalue=-1, Timestamp=2026/2/25 5:12:17, landingState=true, mode=rtl, landing_target_y=0.04795288, distToHome=0.435066, landing_target_x=0.002948491, datetime=598, satcount=10, gpssingal=4, battery_remain=71, landing_target_z=0.1373901, pitch=-5.96391, camerapitch=29.9, obstacle=0, lat=32.141518, hspeed=0.13, mileage=5483.183, altasl=18.74, laser_distance=0, tsingal=0, flytime=598, alt=3.08, deviceid=THJSQ03B2410TGJ3MCJY, yaw=308.7806, voltage=23.99, camerayaw=-17.9, vspeed=0.11, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:30.576 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2410TGJ3MCJY, messageId=null data={"Timestamp":"2026/2/25 5:12:17","alt":"3.08","altasl":"18.74","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"71","camerapitch":"29.9","cameraroll":"0","camerayaw":"-17.9","date":"1772083651669","datetime":598,"deviceid":"THJSQ03B2410TGJ3MCJY","distToHome":"0.435066","flytime":598,"gpssingal":4,"hspeed":"0.13","landingState":"true","landing_target_x":"0.002948491","landing_target_y":"0.04795288","landing_target_z":"0.1373901","laser_distance":"0","lat":32.141518,"lon":118.9498452,"mileage":"5483.183","mode":"rtl","obstacle":"0","pitch":-5.96391,"roll":-0.5221713,"satcount":10,"tsingal":0,"voltage":"23.99","vspeed":"0.11","yaw":308.7806,"ysingal":0,"zoomvalue":"1"} +13:27:30.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03B2309PNRKDVT6/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083671781, zoomvalue=1, roll=-0.6252024, lon=119.3557016, arrwaypointvalue=0, Timestamp=2026-02-11 8:41:24, landingState=false, mode=stabilize, landing_target_y=0, distToHome=9.742248, landing_target_x=0, datetime=0, satcount=9, gpssingal=4, battery_remain=92, landing_target_z=0, pitch=1.189198, camerapitch=0, obstacle=0, lat=31.4264452, hspeed=0.99, mileage=0, altasl=9.69, laser_distance=0, tsingal=0, flytime=0, alt=-3.73, deviceid=THJSQ03B2309PNRKDVT6, yaw=356.5077, voltage=24.47, camerayaw=0.2636719, vspeed=-0.37, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:30.708 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03B2309PNRKDVT6, messageId=null data={"Timestamp":"2026-02-11 8:41:24","alt":"-3.73","altasl":"9.69","altasl2":"0","armed":"false","arrwaypointvalue":"0","battery_remain":"92","camerapitch":"0","cameraroll":"0","camerayaw":"0.2636719","date":"1772083671781","datetime":0,"deviceid":"THJSQ03B2309PNRKDVT6","distToHome":"9.742248","flytime":0,"gpssingal":4,"hspeed":"0.99","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","laser_distance":"0","lat":31.4264452,"lon":119.3557016,"mileage":"0","mode":"stabilize","obstacle":"0","pitch":1.189198,"roll":-0.6252024,"satcount":9,"tsingal":0,"voltage":"24.47","vspeed":"-0.37","yaw":356.5077,"ysingal":0,"zoomvalue":"1"} +13:27:30.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A2302FAWQZBJ1/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083646984, zoomvalue=25, roll=-0.1413898, lon=118.86223, arrwaypointvalue=-1, Timestamp=2026-02-25 3:15:33, landingState=true, mode=rtl, landing_target_y=-0.05275781, distToHome=0.3896182, landing_target_x=0.007034732, datetime=755, satcount=25, gpssingal=4, battery_remain=65, landing_target_z=0.1854492, pitch=-0.05488964, camerapitch=0, obstacle=0, lat=32.2032354, hspeed=0.11, mileage=3614.987, altasl=7.73, laser_distance=0, tsingal=0, flytime=755, alt=0.38, deviceid=THJSQ03A2302FAWQZBJ1, yaw=243.5547, voltage=23.17, camerayaw=0, vspeed=0.10, armed=false, ysingal=0, altasl2=0, cameraroll=0}} +13:27:30.916 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A2302FAWQZBJ1, messageId=null data={"Timestamp":"2026-02-25 3:15:33","alt":"0.38","altasl":"7.73","altasl2":"0","armed":"false","arrwaypointvalue":"-1","battery_remain":"65","camerapitch":"0","cameraroll":"0","camerayaw":"0","date":"1772083646984","datetime":755,"deviceid":"THJSQ03A2302FAWQZBJ1","distToHome":"0.3896182","flytime":755,"gpssingal":4,"hspeed":"0.11","landingState":"true","landing_target_x":"0.007034732","landing_target_y":"-0.05275781","landing_target_z":"0.1854492","laser_distance":"0","lat":32.2032354,"lon":118.86223,"mileage":"3614.987","mode":"rtl","obstacle":"0","pitch":-0.05488964,"roll":-0.1413898,"satcount":25,"tsingal":0,"voltage":"23.17","vspeed":"0.10","yaw":243.5547,"ysingal":0,"zoomvalue":"25"} +13:27:31.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2303VSWFTRRF/realTime/data, callbackCount=0, messageBody={nestWeather={msg=操作成功, code=0, data={rainfall=0.00, windLevel=2.00, windDir=2.00, windSpeed=1.66, rainFlag=0, windAngle=110.50}}, droneBattery={msg=success, code=0, data={cell_5Voltage=4.33, cell_4Voltage=4.30, cell_6Voltage=4.19, cellTemp=18.20, mosTemp=18.60, cell_1Voltage=4.23, cell_2Voltage=4.27, cell_3Voltage=4.22, totalVoltage=25.54, bPowerON=2}}, nestInnerSensor={msg=success, code=0, data={innerHum=77.6, innerTemp=12.7}}, nestCharger={msg=success, code=0, data={current=0.00, bCharging=2, capacity=100.00, voltage=25.70}}} +13:27:31.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2303VSWFTRRF, bPowerON=2 +13:27:31.213 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2303VSWFTRRF, powerOn=2 +13:27:31.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:27:31.243 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03B2410V9BB2UGY, status=1 +13:27:31.267 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03A2306Q5CSWZ75/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=0.00, cell_4Voltage=0.00, cell_6Voltage=0.00, Battery_level=0, chargeTime=213996502, mosTemp=0.00, num_cycles=0, cell_1Voltage=0.00, cell_2Voltage=0.00, cell_3Voltage=0.00, bState=0, bPowerON=2, Discharge_current=0.00, bBattPower=65, startCharge=2023-04-11 22:21:38, versions=0, bCharging=0, bDesc=未知模式, Battery_health=0, cellTemp=0.00, model=Anaxin, totalVoltage=0.00}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=76.4, innerTemp=14.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2023-04-11 22:21:38, current=0.00, bCharging=2, chargeTime=213994252, capacity=32.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:31.268 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03A2306Q5CSWZ75, bPowerON=2 +13:27:31.268 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03A2306Q5CSWZ75, powerOn=2 +13:27:31.314 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,448] - 【状态同步】收到舱门状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:27:31.314 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncCoverStateFromHeartbeat,458] - 【状态同步】同步舱门关闭状态(heartbeat): sn=THJSQ03A2302FAWQZBJ1, status=1 +13:27:31.366 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportDrone/THJSQ03A23059TKMH57V/realTime/data, callbackCount=0, messageBody={msg=操作成功, code=0, data={date=1772083651284, roll=-1.274722, lon=113.1460876, battery=0.91, Timestamp=2026-02-25 3:14:03, landingState=false, mode=stabilize, landing_target_y=0, distToHome=1.337666, landing_target_x=0, datetime=0, satcount=31, gpssingal=6, landing_target_z=0, pitch=-0.2494839, lat=27.8255782, hspeed=0.01, mileage=0, altasl=46.45, tsingal=0, flytime=0, alt=4.03, deviceid=THJSQ03A23059TKMH57V, yaw=273.6223, voltage=25.62, vspeed=0.01, armed=false, ysingal=0, altasl2=38.48}} +13:27:31.367 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.FlightLogCallback - [onDroneRealTimeData,39] - 处理实时消息: deviceSn=THJSQ03A23059TKMH57V, messageId=null data={"Timestamp":"2026-02-25 3:14:03","alt":"4.03","altasl":"46.45","altasl2":"38.48","armed":"false","battery":"0.91","date":"1772083651284","datetime":0,"deviceid":"THJSQ03A23059TKMH57V","distToHome":"1.337666","flytime":0,"gpssingal":6,"hspeed":"0.01","landingState":"false","landing_target_x":"0","landing_target_y":"0","landing_target_z":"0","lat":27.8255782,"lon":113.1460876,"mileage":"0","mode":"stabilize","pitch":-0.2494839,"roll":-1.274722,"satcount":31,"tsingal":0,"voltage":"25.62","vspeed":"0.01","yaw":273.6223,"ysingal":0} +13:27:31.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.d.i.m.m.MqttCallbackRegistry - [handleMessage,161] - 【Machine MqttCallbackRegistry】处理消息: topic=/topic/v1/airportNest/THJSQ03B2410C5V93XD2/realTime/data, callbackCount=0, messageBody={droneBattery={msg=success, code=0, data={cell_5Voltage=4.13, cell_4Voltage=4.13, cell_6Voltage=4.13, Battery_level=98, chargeTime=89394318, mosTemp=16.00, num_cycles=40, cell_1Voltage=4.13, cell_2Voltage=4.13, cell_3Voltage=4.13, bState=1, bPowerON=2, Discharge_current=0.00, bBattPower=17, startCharge=2026-02-25 12:34:00, versions=12363, bCharging=0, bDesc=工作模式,充电MOS开,放电MOS关, Battery_health=99, cellTemp=16.00, model=Anaxin, totalVoltage=24.78}, sender=DroneNest, fun=query_battery}, nestInnerSensor={msg=success, code=0, data={innerHum=79.0, innerTemp=12.5}, sender=DroneNest, fun=query_sensor}, nestCharger={msg=success, code=0, data={startCharge=2026-02-25 12:34:00, current=0.00, bCharging=2, chargeTime=89394314, capacity=0.00, voltage=0.00}, sender=DroneNest, fun=query_charger}} +13:27:31.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,320] - 【状态同步】收到无人机电源状态: sn=THJSQ03B2410C5V93XD2, bPowerON=2 +13:27:31.442 [MQTT Call: mqttx_tuoheng_c1c67436] INFO c.r.d.s.i.TuohengService - [syncDronePowerState,347] - 【状态同步】同步无人机关机状态: sn=THJSQ03B2410C5V93XD2, powerOn=2